An intelligent ball picking robot

Abstract

The application provides an intelligent ball picking robot, and belongs to the technical field of sports venue automation equipment. The application adopts a self-balancing two-wheel trolley with a straight gear meshing transmission which is independently designed, cooperates with technologies such as a gyroscope balance sensing and a following camera holder, and combines a voice and visual control system to develop an automatic ball picking intelligent robot with functions such as autonomous cruising, voice remote control, automatic following and visual positioning, so that the active mode and the following mode of the ball picking on a court are realized, and meanwhile, an electronic screen is used to realize the interesting human-computer interaction and enhance the user experience.

Description

Technical Field

[0001] This invention belongs to the field of sports venue automation equipment technology, specifically relating to an intelligent ball-collecting robot. Background Technology

[0002] Currently, manual ball retrieval in sports venues suffers from inefficiency and high manpower costs. This is particularly true in sports like tennis and table tennis, where frequent ball retrieval is crucial, often requiring players to spend a significant amount of time doing so, impacting the continuity and efficiency of training and matches. Furthermore, manual ball retrieval increases the workload for staff and the expenses of the venue, a problem that is especially pronounced in large-scale events or training facilities.

[0003] Currently, aside from the primary method of manual ball retrieval, the ball-collecting devices on the market, such as ping-pong ball retrievers and tennis ball retrievers, are limited in variety and mainly rely on manual operation. This offers little in reducing the labor intensity of ball retrieval and does not fundamentally change the human involvement in the process. Furthermore, the current market for ball-retrieval robots lacks a widely applicable and highly efficient fully automated robot. Existing ball-retrieval robots are almost entirely based on four-wheeled or higher structures, which, due to their mechanical limitations, may struggle to plan efficient retrieval paths when facing obstacles on the court. Therefore, developing an intelligent device capable of autonomously identifying, locating, and retrieving balls with convenient movement is particularly important. Summary of the Invention

[0004] This invention primarily addresses the ball-collecting needs of sports courts (tennis, table tennis, etc.) by simulating an intelligent "caddie," simultaneously achieving autonomous and following ball-collecting control functions. The invention employs a self-designed, self-balancing two-wheeled vehicle with spur gear meshing transmission, combined with gyroscope balance sensing, a following camera gimbal, and other technologies. Integrating a voice and vision control system, it develops an intelligent robot capable of autonomous navigation, voice remote control, automatic following, and visual positioning. This enables both active and following modes for ball collection on the court, while an electronic screen facilitates engaging human-computer interaction, enhancing the user experience.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows: An intelligent ball-picking robot, with the upper plate 4 of the ball-picking robot as the main structure, and the upper plate 4 of the ball-picking robot is equipped with a TOF ranging module 2, a power supply system, a control system, a two-dimensional servo gimbal, and a head module. The TOF ranging module 2 provides the ball-picking robot with distance information between itself and obstacles in different directions for obstacle avoidance; preferably, four modules are configured.

[0006] The power supply system includes a battery protective case 3 and a battery 49, which provide energy for the ball-collecting robot to work; The control system is used to coordinate and control the overall operation of the ball-collecting robot, including a motor drive board 46, a main controller 47, and a protective shell 17. The protective shell 17 is used to protect the main controller 47 and the motor drive board 46. The two-dimensional servo gimbal includes 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 then fixedly connected to the upper servo 10. This allows the rotation of the output shaft of the lower servo 7 to 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. This allows the rotation of the output shaft of the upper servo 10 to drive the movement of the U-shaped bracket 11, indirectly driving the rotation of the head module. Each servo supports 270° rotation, which provides the head module with a large range of two degrees of freedom rotation space. The head module includes a front shell 14, a rear shell 12, an OpenART camera 15, and a capacitive touch screen 16. The OpenART camera 15 provides visual information for the ball-collecting robot, and the capacitive touch screen 16 displays dynamic graphics to represent the ball-collecting robot's expressions and related status information to enhance the fun of human-computer interaction. The U-shaped bracket 11 of the two-dimensional servo gimbal is connected to the rear shell 12. The head module can rotate around the two-dimensional servo gimbal with two degrees of freedom, which not only enhances the fun of human-computer interaction but also expands the visual range of the OpenART camera 15, which is beneficial for the ball-collecting robot system to obtain a wider range of visual information.

[0007] Furthermore, a left-side wire-holding groove 18 and a right-side wire-holding groove 5 are installed below the upper plate 4. While enhancing the appearance of the ball-collecting robot, these grooves also hold the wires below the upper plate 4, thus protecting the wiring.

[0008] The upper plate 4 is provided with left and right power tire systems below it. The upper plate 4 is connected to the fixed brackets 1 on the left and right sides respectively. 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. Furthermore, the right sign shell 30 and the left sign shell 13 are respectively connected to the fixed brackets 1 on the left and right sides, serving a decorative purpose; The ball-collecting robot's left and right sides are both centered around a central plate 27, forming its left and right power systems. One side of the central plate 27 is connected to a motor mounting base 43, which simultaneously secures the motor 29 and a self-made bearing housing 44, providing the first stage of power output for the ball-collecting robot. Two bevel gears 45 are connected to the motor shaft of the motor 29 and the connecting shaft 35, respectively. The two bevel gears 45 mesh tightly, transmitting the first stage of power output to the large gear 31 connected to the connecting shaft 35, providing the second stage of power output for the ball-collecting robot. The bearing housing bracket 33 is connected to one side of the central plate 27 and the bearing housing 34. The bearing housing 34 and the self-made bearing housing 44 together fix and ensure the rotation of the connecting shaft 35. The outer ring inner gear 28 meshes with the large gear 31 and three small gears 25, transmitting the second stage of power to the outer ring inner gear 28, providing the third stage of power output to the ground for the ball-collecting robot. Each small gear 25 serves a supporting function, and the main power transmission objects are the outer ring inner gear 28 and the large gear 31.

[0009] 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. Furthermore, 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 each outer bracket 26 are fixedly connected by a hexagonal self-locking nut 37 and a locking 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 locking screw 38. The deep groove ball bearing 32 can rotate freely on the optical axis of the locking screw 38. The inner side of the inner bracket 36 and the inner side of the outer bracket 26 together ensure the verticality and locking of the deep groove ball bearing 32. The inner bracket 36 and the outer bracket 26 simultaneously ensure the verticality and locking of the pinion 25 and the inner gear 28 of the outer ring. The inner gear 28 of the outer ring and the three pinions 25 can rotate relative to each other.

[0010] 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 fitted on the smooth screw part of the hexagonal locking screw 39. Below the spring 41 and on the smooth screw part of the hexagonal locking screw 39, a lifting eye spherical screw 42 that can move up and down along the smooth screw is fitted. The cylindrical nut sleeve 21 connects the central steel pipe 9 to the lifting eye spherical screw 42. This design makes the ball picking inner cylinder device and the outer ring inner gear 28 on the outer side not on the same axis.

[0011] The large inner wheel 19 is located on the outer circumference of the inner gear 28. The large inner wheel 19, the deep groove ball bearing 20, the limiting ring 22, the cylindrical nut sleeve 21, and the central steel pipe 9 are connected sequentially from the outside to the inside. The deep groove ball bearing 20 is fixed to the cylindrical nut sleeve 21 by the limiting ring 22. The limiting ring 22, in conjunction with the suspension bracket 40, is used to ensure that the large inner wheel 19 located between the two is vertical and in a locked position. The large inner wheel 19 is fitted onto the deep groove ball bearing 20, allowing the large inner wheel 19 to rotate freely around the vertical plane of the deep groove ball bearing 20. The disc edge of the large inner wheel 19 has holes of the same size and interval. A small screw is fixed on the side of the corresponding hole near the suspension bracket 40. The two ends of the double-ended nut sleeve 23 are respectively fixed to the bolt portion of the small screw extending beyond the large inner wheel 19 and one end of the double-ended bolt 24. At the same time, the other side of the double-ended bolt 24 is fixed in the same way. By uniformly adjusting the spacing between adjacent double-ended bolts 24 within the hole, the ball-collecting inner cylinder device can selectively pick up spherical objects of different sizes. Through the elasticity of the spherical objects and the double-ended bolts 24, the target spherical object is pressed into the ball-collecting inner cylinder device to complete the ball-collecting operation. At the same time, the double-ended bolts 24 can be removed by simply tightening the double-through nut sleeves 23 on both sides of a double-ended bolt 24 to the point where they are disengaged from the corresponding small screws connected to the large wheel 19 in the middle cylinder, and the ball-collecting operation can be performed from this position where the spacing has been expanded. Preferably, 60 holes are provided, such as 4 holes between the two double-ended bolts 24 when picking up a tennis ball. 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 double-ended bolts 24, the double-through nut sleeve 23, and the central steel pipe 9 together constitute the ball-picking inner cylinder device of the ball-picking robot.

[0012] The process of using an intelligent ball-retrieving robot includes the following steps: After starting the ball-collecting robot, commands can be issued to the main controller 47 via Bluetooth or voice control on a mobile phone. When the command is a motion control command, the main controller 47 outputs a control signal to the motor drive board 46. The motor drive board 46 outputs a corresponding voltage to the motors 29 on both sides to regulate the speed of the motors 29. The motors 29 transmit speed control through the meshing of their shafts and multiple gears, ultimately controlling the speed of the gears 28 on the outer ring. Simultaneously, the main controller 47 receives information from the motor encoder and gyroscope during various movements, providing feedback to regulate the motor speed and ensure the ball-collecting robot remains balanced and upright. When the main controller 47 receives a ball-collecting task, it disables the speed control signal transmitted via Bluetooth from the mobile phone. Meanwhile, the OpenART camera 15 transmits the relative coordinates of the target ball to the main controller 47 in real time. The main controller 47 processes the ball coordinates and uses relevant algorithms to plan the path, ultimately outputting control signals to regulate the speed of the two motors 29. When performing autonomous ball retrieval, if there is no target ball within the visual range of the OpenART camera 15, the 2D servo gimbal will be used to move the OpenART 15 upwards by a certain angle to expand the visual range and continue searching for the target ball. If no target ball is displayed within the visual range, the expression change on the capacitive touch screen 16 will indicate that the target ball has been picked up. Information and related animated expressions displayed on the capacitive touch screen 16, such as the number of balls picked up and battery level, can be switched using Bluetooth control or voice control via a mobile phone. The specific speed control of the ball-retrieval robot via Bluetooth can only be activated when the autonomous ball-retrieval function is turned off. When obstacle avoidance mode is enabled, the main controller 47 will receive distance information from the TOF ranging module 2 in various motion states and execute corresponding obstacle avoidance actions. During the dynamic movement of the ball-retrieval robot, the inner ball-retrieval cylinder device achieves differential composite motion of the left and right wheels under the different thrust effects of the left and right power systems. When the ball-collecting inner cylinder device encounters the target ball, it uses the double-ended bolt 24 and the target ball's own elasticity to quickly press the target ball into the cylinder, completing the ball-collecting task. Battery 49 provides overall power to the ball-collecting robot.

[0013] The beneficial effects of this invention are: (1) A novel ball-collecting robot with a self-balancing two-wheel motion mode of spur gear meshing transmission. The self-balancing two-wheel differential motion mode allows the ball-collecting robot to better complete the ball-collecting task when facing some relatively narrow spaces on the court, by taking advantage of the ability to turn 360° in place, and the movement is more flexible.

[0014] (2) It greatly reduces the impact of the increased number of balls in the ball-collecting task on the load of the entire device, and uses the spring 41 to transfer the gravity of the device, so that the center of gravity of the ball-collecting robot moves upward and the entire ball-collecting robot is better balanced. At the same time, it increases the friction between the ball-collecting inner cylinder device and the ground, so that the ball-collecting inner cylinder device moves better. When the ball-collecting robot is suspended in the air and does not touch the ground, the eyelet screw 42 of the lifting ring will not be coaxial with the inner gear of the outer ring, but will be offset downward. This makes the overall weight of the ball-collecting inner cylinder device basically borne by the ground, rather than the power system on the left and right sides. When the ball-collecting robot touches the ground, the contact point between the eyelet screw 42 of the lifting ring and the smooth screw of the hexagonal locking screw 39 will move upward, so that the spring 41 will deform and exert force on the upper and lower contact structure, which plays the role of transferring the gravity of the device, reducing the friction between the left and right power systems and the ground, and increasing the friction between the middle ball-collecting inner cylinder device and the ground. The specific description is as follows. Below: On the one hand, spring 41 exerts a downward force on the fisheye screw 42 of the lifting ring, which can increase the friction between the ball-collecting inner cylinder device and the ground. Since the ball-collecting inner cylinder device is actually provided with a simple forward thrust by the power systems on both sides during the ball-collecting process, increasing the friction between the ball-collecting inner cylinder device and the ground helps it maintain good rotation during the ball-collecting process and the differential motion of the ball-collecting robot, rather than being dragged and kept stationary. On the other hand, spring 41 provides an upward force on the suspension bracket 40, raising the center of gravity of the power systems on both sides and the main device such as the upper plate 4, making it easier to control the balance of the ball-collecting robot.

[0015] (3) The spacing of the elastic rods (i.e., double-headed bolts 24) on the inner roller of this device is adjustable, and users can choose the appropriate spacing according to their ball picking needs. For example, when the spacing between the two elastic rods is 4 holes, tennis balls can be picked up selectively, while when the spacing is 3 holes, ping-pong balls can be picked up. This design greatly reduces the design cost and provides more ball picking effects to choose from.

[0016] (4) This device innovatively combines the OpenArt camera 15 with the capacitive touch screen 16 and uses a two-dimensional servo gimbal, which on the one hand expands the camera's visual range, enabling 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.

[0017] (5) This device has an autonomous ball-picking function. Compared with the traditional ball-picking method that relies on manpower on the court, this device uses vision to locate the target balls on the court and autonomously plans the path to pick up the balls, which greatly improves the ball-picking efficiency and saves labor costs.

[0018] (6) The intelligent ball-collecting robot provided by the present invention can accurately identify the target ball and autonomously complete the ball-collecting task on the court, greatly improving the ball-collecting efficiency and reliability.

[0019] (7) Unlike conventional single-function ball-collecting robots, this invention has a unique design approach in terms of appearance and human-computer interaction, which greatly improves the fun and aesthetic appeal. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the intelligent ball-collecting robot.

[0021] Figure 2 This is a schematic diagram of the internal structure of some parts of the intelligent ball-collecting robot.

[0022] Figure 3 This is a schematic diagram of the inner side of the power system of a single tire of this intelligent ball-collecting robot.

[0023] Figure 4 This is a schematic diagram of the outer side of the power system of a single tire of this intelligent ball-collecting robot.

[0024] In the diagram: 1. Fixed bracket; 2. TOF ranging module; 3. Battery protective shell; 4. Top plate; 5. Right side cable tray; 6. Lower servo bracket; 7. Lower servo; 8. Upper servo bracket; 9. Central steel pipe; 10. Upper servo; 11. U-shaped bracket; 12. Rear head shell; 13. Left side marker shell; 14. Front head shell; 15. OpenArt camera; 16. Capacitive touch display screen; 17. Protective shell; 18. Left side cable tray; 19. Mid-tube large wheel; 20. Mid-tube deep groove ball bearing; 21. Cylindrical nut sleeve; 22. Limiting ring; 23. Double-through nut sleeve; 24. Double-ended bolt; 25. Pinion; 2 6. Outer bracket; 27. Middle plate; 28. Outer ring internal gear; 29. ​​Motor; 30. Right side marker shell; 31. Large gear; 32. Deep groove ball bearing; 33. Bearing housing bracket; 34. Bearing housing; 35. Connecting shaft; 36. Inner bracket; 37. Hexagonal self-locking nut; 38. Plug screw; 39. Hexagonal double-locking screw; 40. Suspension bracket; 41. Spring; 42. Eye bolt; 43. Motor mounting base; 44. Self-made bearing housing; 45. Bevel gear; 46. Motor drive board; 47. Main controller; 48. Servo flange; 49. Battery. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: An intelligent ball-retrieving robot includes a fixed bracket 1, a TOF ranging module 2, a battery protective shell 3, an upper plate 4, a right-side cable clamping groove 5, a lower servo motor bracket 6, a lower servo motor 7, an upper servo motor bracket 8, a central steel pipe 9, an upper servo motor 10, a U-shaped bracket 11, a rear head shell 12, a left-side marking shell 13, a front head shell 14, an OpenART camera 15, a capacitive touch screen 16, a protective shell 17, a left-side cable clamping groove 18, a large middle wheel 19, a deep groove ball bearing 20, a cylindrical nut sleeve 21, a limiting ring 22, and a double-ended nut. The components include: sleeve 23, double-ended bolt 24, pinion 25, outer bracket 26, middle plate 27, outer ring internal gear 28, motor 29, right-side marker shell 30, large gear 31, deep groove ball bearing 32, bearing housing bracket 33, bearing housing 34, connecting shaft 35, outer bracket 36, hexagonal self-locking nut 37, plug screw 38, hexagonal double-locking screw 39, suspension bracket 40, spring 41, eye bolt 42, motor mounting base 43, self-made bearing housing 44, bevel gear 45, motor drive board 46, main controller 47, servo flange 48, and battery 49. Its features are: Four TOF ranging modules 2 are fixed to the four positions of the upper plate 4 with screws and kept horizontal. The battery protective shell 3 is directly connected to the upper plate 4 and covers the battery 49 placed in the recessed part of the upper plate 4. The motor drive board 46 and the main controller 47 are fixed to the upper plate 4 with screws. The protective shell 17 is directly connected to the upper plate 4 and encloses the main controller 47 and the motor drive board 46. The upper servo motor 10, the upper servo motor bracket 8, the lower servo motor 7, the lower servo motor bracket 6, the two servo motor flanges 48, and the U-shaped bracket 11 are fixed with screws. Together, the upper plate 4 and the lower servo bracket 6 are fixed together with screws. The Openart camera 15 and the capacitive touch screen 16 are fixed together with the front shell 14 of the head. The rear shell 12 of the head is fixed to the front shell 14 of the head with screws. The rear shell 12 of the head is fixed to the U-shaped bracket 11 with screws. The left wire slot 18 and the right wire slot 5 are directly connected to the upper plate 4. The upper plate 4 is fixed to the left and right fixed brackets 1 respectively with screws. The left mark shell 30 and the right mark shell 9 are directly connected to the fixed brackets 1 on the corresponding sides respectively.

[0026] The power output systems on both sides have the following characteristics: The fixed bracket 1 is fixed to the middle plate 27 with screws; the middle plate 27 is connected to the motor mounting base 43 with screws; the motor mounting base 43 is simultaneously connected to the motor 29 and the self-made bearing housing 44 with screws; two bevel gears 45 are respectively connected to the motor 29 and the connecting shaft 35 with screws; the connecting shaft 35 is directly fixed to the large gear 31; the two bevel gears 45 are connected by meshing; the bearing housing bracket 33 is connected to the middle plate 27 with screws; the bearing housing bracket 33 is connected to the bearing housing 34 with screws; each middle plate 27 has the following three pairs of features: inner... The side bracket 36 and the outer bracket 26 are respectively fixed to the inner and outer sides of the middle plate by screws. The inner bracket 36 is fitted with a hexagonal self-locking nut 37. The plug screw 38 passes through the outer bracket 26 and is connected to the hexagonal self-locking nut 37. The deep groove ball bearing 32 is connected to 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 simultaneously fix the pinion 25 and the deep groove ball bearing 32. Then, the outer ring inner gear 28 meshes with the large gear 31 and the three pinions 25. At the same time, the outer ring inner gear 28 is fixed by the inner bracket 36 and the outer bracket 26.

[0027] The inner side of the middle plate 27 is connected to the suspension bracket 40 by screws. 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 swivel screw 42 are both installed on the smooth screw of the hexagonal locking screw 39. The spring 41 is above the eye swivel screw 42. The cylindrical nut sleeve 21 is directly connected to the central steel pipe 9 and the eye swivel screw 42. The middle cylinder deep groove ball bearing 20 and the limiting ring 22 are installed on the cylindrical nut sleeve 21. The middle cylinder deep groove ball bearing 20 is fixed to the cylindrical nut sleeve 21 by the limiting ring 22. The threaded part of each side of the 12 double-ended bolts 24 is connected to the small screw that has been fixed on the middle cylinder large wheel 19 through the double-through nut sleeve 23. Every two double-ended bolts 24 are separated by 4 holes on the middle cylinder large wheel 19.

[0028] Real-world usage of the autonomous exploration robot: Powered by battery 49, the ball-collecting robot's various functions are ensured. After the output shaft of each motor 29 rotates, power is transmitted to the outer inner gear 28 via two bevel gears 45, connecting shaft 35, and large gear 31, driving the tires to rotate. The main controller 47 detects the ball-collecting robot's roll angle and angular velocity information, and receives speed information from the encoders on the motors 29. It performs real-time attitude calculations and outputs signals to control the power output of the two motors 29 via motor drive board 46, maintaining the ball-collecting robot's balance during movement. Four TOF ranging modules 2 transmit distance information between the robot and obstacles in four directions to the main controller 47 in real time. Commands can be directly issued to the main controller 47 via Bluetooth and voice control from a mobile phone. The capacitive touchscreen display 16 can change expressions or display relevant information based on commands received from the main controller 47; the two-dimensional servo gimbal can rotate, simultaneously changing the position of the OpenART camera 15 and the capacitive touchscreen display 16. The OpenART camera 15 transmits the relative coordinates of the target ball within the real-time visual range to the main controller 47. During autonomous ball-picking, the intelligent ball-picking robot can efficiently and quickly retrieve the target ball. In the process, the robot uses a spring rod and the ball's own elasticity to quickly press the ball into the cylinder, completing the retrieval task. To retrieve the ball, the user needs to remove a double-ended bolt 24.

[0029] The above-described embodiments are merely illustrative of the implementation methods of the present invention, but should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. An intelligent ball-collecting robot, characterized in that, The ball-picking robot's upper plate (4) is used as the main structure. The upper plate (4) of the ball-picking robot is equipped with a TOF ranging module (2), a power supply system, a control system, a two-dimensional servo gimbal, and a head module. The TOF ranging module (2) provides the ball-picking robot with distance information between itself and obstacles in different directions for obstacle avoidance. The power supply system includes a battery protective case (3) and a battery (49) to provide energy for the ball-collecting robot to work; The control system is used to coordinate and control the overall operation of the ball-collecting robot, including a motor drive board (46), a main controller (47), and a protective shell (17). The protective shell (17) is used to protect the main controller (47) and the motor drive board (46). The two-dimensional servo gimbal includes 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 then fixedly connected to the upper servo (10). This allows the rotation of the output shaft of the lower servo (7) to 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). The U-shaped bracket (11) is connected to the head module. This allows the rotation of the output shaft of the upper servo (10) to drive the movement of the U-shaped bracket (11), indirectly driving the rotation of the head module. Furthermore, a single servo supports a 270° rotation, which provides the head module with a wide range of two-degree-of-freedom rotation space. The head module includes a front shell (14), a rear shell (12), an OpenArt camera (15), and a capacitive touch screen (16). The OpenArt camera (15) provides visual information for the ball-collecting robot, and the capacitive touch screen (16) is used to display dynamic graphics to represent the ball-collecting robot's expressions and related status information to enhance the fun of human-computer interaction. The U-shaped bracket (11) of the two-dimensional servo gimbal is connected to the rear shell (12). The head module can rotate around the two-dimensional servo gimbal with two degrees of freedom, which not only enhances the fun of human-computer interaction but also expands the visual range of the OpenArt camera (15), which is conducive to the ball-collecting robot system obtaining a wider range of visual information. The upper plate (4) is provided with left and right power tire systems. The upper plate (4) is connected to the fixed brackets (1) on the left and right sides respectively. 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 ball-collecting robot has a central plate (27) on both sides, forming the power system on both sides. One side of the central plate (27) is connected to the motor mounting base (43), which simultaneously fixes the motor (29) and the self-made bearing seat (44), providing the first stage of power output for the ball-collecting robot. Two bevel gears (45) are connected to the motor shaft and the connecting shaft (35) of the motor (29) respectively. The two bevel gears (45) mesh tightly, transmitting the first stage of power output to the large gear (31) connected to the connecting shaft (35), providing the ball-collecting robot with power. The second stage of power output is achieved; the bearing seat bracket (33) is connected to one side of the middle plate (27) and the bearing seat (34). The bearing seat (34) and the self-made bearing seat (44) work together to fix and protect the rotation of the connecting shaft (35); the outer ring inner gear (28) meshes with the large gear (31) and three small gears (25) to transmit the second stage of power to the outer ring inner gear (28), providing the ball-picking robot with the third stage of power output to the ground. 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 at 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). The inner side of the inner bracket (36) and the inner side of the outer bracket (26) together 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 drive 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 fitted on the smooth screw part of the hexagonal locking screw (39), and a lifting eye screw (42) that can move up and down along the smooth screw is fitted on the smooth screw part of the hexagonal locking screw (39) below the spring (41). The cylindrical nut sleeve (21) connects the central steel pipe (9) to the lifting eye screw (42). This design makes the ball picking inner cylinder device and the outer ring inner gear (28) on the outer side not on the same axis. The large inner wheel (19) is located on the outer circumference of the inner gear (28) of the outer ring. The large inner wheel (19), the 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 deep groove ball bearing (20) is fixed on the cylindrical nut sleeve (21) by the limiting ring (22). The limiting ring (22) works with the suspension bracket (40) to ensure that the large inner wheel (19) located between the two is vertical and in a locked position. The large inner wheel (19) is fitted on the deep groove ball bearing (20), so that the large inner wheel (19) can rotate freely around the vertical plane of the deep groove ball bearing (20). The disc edge of the large inner wheel (19) has holes of the same size and interval. On the side of the corresponding hole near the suspension bracket (40) A small screw is fixed, and the two ends of the double-ended nut sleeve (23) are respectively fixed to the bolt part of the small screw that extends beyond the middle cylinder wheel (19) and one end of the double-ended bolt (24). At the same time, the other side of the double-ended bolt (24) is fixed in the same way. By uniformly adjusting the spacing between adjacent double-ended bolts (24) in the hole, the ball-collecting inner cylinder device can selectively pick up ball objects of different sizes. Through the elasticity of the ball object and the double-ended bolt (24), the target ball object is pressed into the ball-collecting inner cylinder device to complete the ball-collecting operation. At the same time, after tightening the double-ended nut sleeve (23) on both sides of a double-ended bolt (24) to the extent that it is detached from the small screw connected to the corresponding middle cylinder wheel (19), the double-ended bolt (24) can be removed, and the ball-collecting operation can be performed from this position where the spacing has been expanded.

2. The intelligent ball-picking robot according to claim 1, characterized in that, The left wire-locking groove (18) and the right wire-locking groove (5) are installed below the upper plate (4). While modifying the appearance of the ball-picking robot, they also lock the wires below the upper plate (4) to protect the wires.

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

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 the meshing transmission between the motor shaft and multiple gears. The reduction ratio between the motor shaft and the inner gear (28) of the outer ring is 81:20, which increases the torque output of the motor to the inner gear (28) of the outer ring, making the control of the inner gear (28) of the outer ring faster.

5. The intelligent ball-picking robot according to claim 1, characterized in that, The aforementioned hole positions are set with 60 holes; the cylindrical nut sleeve (21), the middle cylinder deep groove ball bearing (20), the limiting ring (22), the middle cylinder large wheel (19), the double-headed bolt (24), the double-through 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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