Badminton picking robot

Abstract

The invention discloses a shuttlecock picking robot, and relates to the technical field of intelligent sports equipment. In order to solve the problems that an existing shuttlecock picking robot is single in function when collecting shuttlecocks, the shuttlecocks cannot be efficiently collected, the collected shuttlecocks cannot be tidily placed, and appearance damage detection on the shuttlecocks is immature. The lower surface of the chassis module 4 is uniformly provided with three wheel modules 3 along the circumferential edge, the two sides of the middle part of the upper surface of the chassis module 4 are respectively provided with a badminton barrel module 6, one side of each badminton barrel module 6 is provided with a badminton compaction module 8, and one end of the upper surface of the chassis module 4 is provided with a detection box module 2; an identification camera module 1 is arranged on the upper surface of the detection box module 2, a mechanical arm module 5 is arranged at the other end of the upper surface of the chassis module 4, and a control module 7 is arranged on the bottom surface of the chassis module 4. The shuttlecock appearance detection device is suitable for detecting the appearance of the shuttlecock and collecting and classifying the shuttlecock.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent sports equipment, and in particular to a badminton ball picking robot. Background Art

[0002] Badminton is a popular indoor sport. It is loved by people for its simple way of hitting badminton with a long-handled net racket. It is a sport suitable for all ages. However, after each badminton event, cleaning up the scattered badmintons in the venue has become a hassle. At present, it is mostly picked up by manpower, and the staff frequently bends over and kneels, which is labor-intensive and inefficient. There is a lack of mature and stable badminton picking robot solutions on the market. In recent years, single-chip microcomputers have been widely used in home appliances, digital and sports fields, profoundly changing people's daily quality of life. In the field of sports, many auxiliary robots have been introduced for sports such as football and basketball, which greatly improves people's experience during exercise. However, the special structure of badminton, the entire sphere is irregular in shape, and the feathers are fragile and easy to break, so the research and development of badminton picking robots needs to consider more variables. The technology is still immature and needs further breakthroughs to solve the problems of the current picking robots that cause great damage to badminton, cannot arrange them properly, and cannot detect damage.

[0003] In summary, the existing badminton picking robot has a relatively single function when collecting badminton, lacks efficient collection of badminton, and is unable to neatly place the badminton after collection and perform appearance damage inspection on the badminton. Summary of the invention

[0004] The present invention proposes a badminton picking robot to solve the problems that the existing badminton picking robot has a single function when collecting badmintons, lacks efficient collection of badmintons, and is immature in being unable to neatly place the badmintons after collection and unable to perform appearance damage inspection on the badmintons.

[0005] A badminton picking robot of the present invention comprises a recognition camera module 1, a detection box module 2, a Furley wheel module 3, a chassis module 4, a mechanical arm module 5, a badminton ball barrel module 6, a control module 7 and a badminton compacting module 8;

[0006] Three Furley wheel modules 3 are evenly arranged along the circumferential edge of the lower surface of the chassis module 4, a badminton ball barrel module 6 is respectively arranged on both sides of the middle of the upper surface of the chassis module 4, and a compacting badminton module 8 is arranged next to each badminton ball barrel module 6, a detection box module 2 is arranged at one end of the upper surface of the chassis module 4, and an identification camera module 1 is arranged on the upper surface of the detection box module 2, a mechanical arm module 5 is arranged at the other end of the upper surface of the chassis module 4, and a control module 7 is arranged on the bottom surface of the chassis module 4;

[0007] The described detection box module 2 includes a detection box body 21, a badminton seat 22, a seat baffle 23, a seat baffle servo 24, an outer turntable 25, an inner turntable 26, a flange 27, a flange motor 28, a detection box detection lens 29, and a fill light 210;

[0008] A square through-hole is provided at the bottom edge of the front surface of the detection box body 21. The seat baffle 23 is provided at the square through-hole. The left and right sides outside the detection box body 21 are connected to the upper surface of the chassis module 4 by bolts. A flange motor 28 is provided at the center of the bottom surface of the detection box body 21. After the output end of the flange motor 28 passes through the detection box body 21, it is fixedly connected to the center of the large-diameter end surface of the badminton seat 22 through the flange 27. When the badminton seat 22 holds a badminton, the flange motor 28 drives the flange 27 and the seat baffle 23 to rotate, completing the "door closing" effect, that is, the detection box module will close. A seat baffle servo 24 is provided inside the seat baffle 23. The lower end surface of the outer turntable 25 is fixedly connected to the upper surface of the chassis module 4 by bolts. The inner turntable 26 is provided in the inner hole of the outer turntable 25, and there are rolling elements between the outer surface of the inner turntable 26 and the inner surface of the outer turntable 25. The upper surface of the inner turntable 26 is connected to the seat baffle 23 by bolts, and the seat baffle servo 24 is used to drive the badminton seat 22 to rotate, so that the detection box detection lens 29 scans each part of the badminton. The detection box detection lens 29 is provided on the inner wall of the detection box body 21, and the fill light 210 is provided below the detection box detection lens 29;

[0009] Further, the recognition camera module 1 includes a camera 11, a connecting shaft 12, and a camera bracket 13; the top end of the camera bracket 13 is connected to the bottom surface of the camera 11 through the connecting shaft 12;

[0010] Further, the Fulailun module 3 includes a Fulailun motor 31, a motor bracket 32, and a wheel 33; the output end of the Fulailun motor 31 is provided with the wheel 33, and the Fulailun motor 31 is fixedly connected to the bottom surface of the chassis module 4 through the motor bracket 32;

[0011] Further, the chassis module 4 includes an upper chassis 41, a turntable ring 42, a lower chassis 43, and a turntable motor 44. The upper surface of the lower chassis 43 is provided with the upper chassis 41. The turntable ring 42 is divided into an inner and an outer ring, and there are rolling elements between the two rings. The upper chassis 41 is connected to the inner ring of the turntable ring 42 by studs, and the outer ring of the turntable ring 42 and the lower chassis 43 are connected by studs. A turntable motor 44 is provided between the center of the bottom surface of the upper chassis 41 and the center of the upper surface of the lower chassis 43. The bottom end of the turntable motor 44 is fixedly connected to the upper surface of the lower chassis 43, and the output end of the turntable motor 44 is fixedly connected to the bottom surface of the upper chassis 41;

[0012] Further, the badminton tube module 6 includes a tube 61, a tube seat 62, a turntable connecting shaft 63, a turntable 64, a tube flange 65, a tube motor mounting bracket 66, and a tube motor 67;

[0013] The tube motor 67 is fixed on the upper surface of the upper chassis 41 of the chassis module 4 through the tube motor mounting bracket 66. The output end of the tube motor 67 is connected to the tube flange 65. The five innermost holes of the tube flange 65 and the turntable connecting shaft 63 are connected by screws. When the tube motor operates, it will drive the tube flange 65, the inner ring of the turntable 64, the turntable connecting shaft 63, the tube seat 62, and the tube 61 to rotate as a whole. The outermost hole of the turntable connecting shaft 63 is connected to the tube seat 62 by a stud. The inner hole of the turntable connecting shaft 63 is connected to the inner ring hole of the turntable 64 by a screw. The inner ring hole of the turntable 64 and the turntable connecting shaft 63 are connected by screws. The outer ring hole of the turntable 64 and the tube motor mounting bracket 66 are connected by studs. At least three tubes 61 are provided on the tube seat 62;

[0014] Further, the robotic arm module 5 includes a gripper 51, a first robotic arm motor 52, a second robotic arm motor 53, a third robotic arm motor 54, a fourth robotic arm motor 55, a robotic arm connecting rod 56, a fifth robotic arm motor 57, and a sixth robotic arm motor 58;

[0015] A motor seat is respectively provided on the first robotic arm motor 52, the second robotic arm motor 53, the third robotic arm motor 54, the fourth robotic arm motor 55, the fifth robotic arm motor 57, and the sixth robotic arm motor 58. The output end of the sixth robotic arm motor 58 is fixed on the upper surface of the upper chassis 41 of the chassis module 4. The output end of the fifth robotic arm motor 57 is fixedly connected to the bottom surface of the motor seat on the sixth robotic arm motor 58. The motor seat on the fifth robotic arm motor 57 is connected to the motor seat on the fourth robotic arm motor 55 through a robotic arm connecting rod 56. A bracket connecting block is provided at the output end of the fourth robotic arm motor 55. The side surface of the bracket connecting block is connected to the motor seat on the third robotic arm motor 54 through another robotic arm connecting rod 56. The output end of the third robotic arm motor 54 is connected to the motor seat on the second robotic arm motor 53. The output end of the second robotic arm motor 53 is connected to the motor seat on the first robotic arm motor 52. A gripper 51 is provided at the output end of the first robotic arm motor 52;

[0016] Further, a pressure sensor 512 is provided on the clamping end surface of the fixture 511 on the gripper 51, and a sponge layer 513 is provided on the outer surface of the pressure sensor 512;

[0017] Further, the compacted badminton module 8 includes a squeezing sensor 81, a squeezer 82 and a squeezing frame 83. The squeezing frame 83 is an L-shaped bracket. One end of the horizontal section of the squeezing frame 83 is provided with a squeezer 82. The axis of the squeezer 82 is horizontally arranged with the axis of the vertical section of the squeezing frame 83. A squeezing sensor 81 is provided on the output end of the squeezer 82. The bottom end of the vertical section of the squeezing frame 83 is fixedly connected by bolts;

[0018] Further, during use, when the camera 11 of the recognition camera module 1 detects a badminton, it will transmit the position information to the control module 7. The control module 7 will automatically match the optimal path according to the algorithm, so as to drive the Flywheel motor 31 of the Flywheel module 3 to control the rotation speed and direction of the wheel 33, and then make the badminton robot run in a straight line to the position of the badminton. The control module 7 will control the upper chassis 41 and the inner ring of the turntable ring 42 to rotate relative to the rest of the chassis module 4 under the drive of the turntable motor 44, so that the fuselage can be rotated to a specified angle, making it more convenient for the robotic arm module 5 to grab the badminton. The robotic arm module 5 uses a six-degree-of-freedom robotic arm and a gripper 51 to cooperate to finally complete the grabbing of the badminton. During the grabbing process, the pressure sensor 512 on the gripper 51 in the robotic arm module 5 will feedback the clamping force to the control module 7, and the algorithm will automatically match the appropriate force to ensure that the clamping force of the gripper 51 can pick up the badminton without damaging the badminton, thus realizing the grabbing function.

[0019] Then, the robot arm module 5 will send the badminton to the badminton seat 22 of the detection box module 2, and then the flange motor 28 will drive the flange 27 and the ball seat baffle 23 to rotate, completing the "door closing" effect, that is, the detection box module will close, so that the ball seat baffle 23 closes the detection box module 2, thereby controlling the variable "light" so that the "light" inside the detection box is only emitted by the fill light 210, and then the detection effect of the detection lens 29 is more stable. The detection box module 2 will start to detect the appearance of the badminton. First, the detection box detection lens 29 will detect the badminton. At the same time, the ball seat baffle servo 24 of the detection box module 2 is used to drive the badminton seat 22 to rotate, so that the detection box detection lens 29 scans every part of the badminton, and then the algorithm will automatically identify the damaged and intact badmintons to achieve the detection function. Then the control module 7 will drive the mechanical arm module 5 to put the broken badminton into the ball barrel 61 of the badminton ball barrel module 6 on the right side, and the intact badminton into the ball barrel 61 of the badminton ball barrel module 6 on the left side. When the mechanical arm module 5 puts a badminton, the badminton is placed in the initial position of the ball barrel 61, and then the ball barrel motor 67 will run, driving the ball barrel 61 to rotate 120° clockwise to the position where the badminton is located directly below the squeezer 82 of the compacting badminton module 8. Next, the compacting badminton module 8 will start to work, and the squeezer 82 will drive the pressure sensor 81 to continuously run and squeeze the badminton downward, so that the inside of the ball barrel 61 will be vacated with a larger space to continue to load the badminton. At the same time, the pressure sensor 81 transmits a signal to the control module 7, and the downward squeezing pressure of the squeezer 82 is intelligently adjusted according to the internal algorithm, and the downward squeezing will stop when a certain condition is reached.

[0020] Finally, the ball barrel motor 67 rotates 120° counterclockwise, that is, the ball barrel 61 completes the reset, and the process of collecting and detecting a badminton on the ground ends. The badminton picking robot of the present invention will continue to repeat the above process, and the ball barrel 61 will continue to receive the badminton transported from the mechanical arm module 5, and put it into the ball barrel 61 of the badminton ball barrel module 6 on different sides. In this process, the control module 7 will continue to receive force feedback from the pressure sensor 81 of the badminton compacting module 8 until the badminton ball barrel module 6 on either side is completely filled with badminton and the squeezing work will be stopped. At the same time, the control module 7 will convey a signal to remind the staff of the badminton court to collect the badminton in the ball barrel 61 of the badminton ball barrel module 6. Finally, the function of automatically sorting the good and bad badminton is realized.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention overcomes the shortcomings of the prior art. When the camera of the recognition camera module detects a badminton, it will transmit the position information to the control module. The control module will automatically match the optimal path according to the algorithm, and then drive the corresponding-direction Fulei wheel motor of the Fulei wheel module to drive the wheel to rotate through the speed difference, so that the badminton robot can run linearly to the position of the badminton. The control module will drive the robotic arm module according to the algorithm. The robotic arm module uses a six-degree-of-freedom robotic arm and a gripper to cooperate to finally complete the grasping of the badminton. During the grasping process, the pressure sensor on the gripper in the robotic arm module will feedback a resistance signal to the control module, and the algorithm will automatically match an appropriate force to ensure that the force of the gripper is just enough to pick up the badminton without damaging the badminton, thus realizing the grasping function.

[0023] 2. The present invention uses the robotic arm module, badminton tube module, detection box module, and badminton extrusion module to cooperate to complete automatic sorting. By transmitting signals through the control module, it will first control the gripper of the robotic arm module to pick up the badminton. The picked-up badminton will be first placed on the badminton seat of the detection box module. Then the flange motor will drive the flange, ball seat baffle, and inner ring of the turntable to rotate as a whole to complete the "closing" effect, that is, the detection box module will close, so that the ball seat baffle closes the detection box module. Then, the variable "light" is controlled to make the detection effect of the detection lens of the detection box more stable. Then the ball seat baffle servo will drive the badminton seat to rotate, so that the detection lens of the detection box scans each part of the badminton. During this process, the detection lens of the detection box will continuously detect. After the detection is completed, it will control the gripper of the robotic arm module according to the algorithm to put the intact and damaged badminton into different tubes of the badminton tube module respectively, so as to realize the function of sorting good and bad badminton. When the tube of the badminton tube module is "initially full" (the badminton placed in the tube is in an uncompressed state), the tube motor will run, rotate the other tubes 120° clockwise, and then the badminton compaction module will start working. The extruder will drive the pressure sensor to continuously run and press down the badminton to make more space available inside the tube to continue loading badminton. At the same time, the pressure sensor transmits a signal to the control circuit board, and the downward pressing pressure of the extruder is intelligently adjusted according to the internal algorithm. After reaching a certain level, it will stop running, realizing the high-efficiency collection of badminton and improving the work efficiency of collection; using a badminton picking robot with this structure greatly reduces the labor intensity of workers, and even replaces most ordinary workers, realizing the assistance of a fully automatic badminton court. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a three-dimensional structure schematic diagram of a badminton picking robot according to the present invention;

[0025] Figure 2It is a schematic diagram of the connection structure between the lower chassis and the control module in a badminton ball-picking robot according to the present invention;

[0026] Figure 3 It is a three-dimensional schematic diagram of the connection structure between the recognition camera module and the detection box module in a badminton ball-picking robot according to the present invention;

[0027] Figure 4 It is a three-dimensional schematic diagram of the detection box module in a badminton ball-picking robot according to the present invention;

[0028] Figure 5 It is a three-dimensional exploded view of the detection box module in a badminton ball-picking robot according to the present invention;

[0029] Figure 6 It is a rear view of the detection box module in a badminton ball-picking robot according to the present invention;

[0030] Figure 7 It is a three-dimensional schematic diagram of the Fulei wheel module in a badminton ball-picking robot according to the present invention;

[0031] Figure 8 It is a three-dimensional schematic diagram of the chassis module in a badminton ball-picking robot according to the present invention;

[0032] Figure 9 It is a three-dimensional exploded view of the chassis module in a badminton ball-picking robot according to the present invention;

[0033] Figure 10 It is a three-dimensional schematic diagram of the gripper on the robotic arm module in a badminton ball-picking robot according to the present invention;

[0034] Figure 11 It is a three-dimensional schematic diagram of the robotic arm module in a badminton ball-picking robot according to the present invention;

[0035] Figure 12 It is a three-dimensional schematic structural diagram of the badminton tube module in a badminton ball-picking robot according to the present invention;

[0036] Figure 13 It is a three-dimensional exploded view of the badminton tube module in a badminton ball-picking robot according to the present invention;

[0037] Figure 14 It is a three-dimensional structural diagram of the compacted badminton module in a badminton ball-picking robot according to the present invention;

[0038] Figure 15 It is a top view of the lower chassis in a badminton ball-picking robot according to the present invention. Detailed implementation manners

[0039] Embodiment 1: In combination with Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 describe this embodiment. The badminton picking robot described in this embodiment includes an identification camera module 1, a detection box module 2, a Fulailun module 3, a chassis module 4, a robotic arm module 5, a badminton tube module 6, a control module 7, and a badminton compaction module 8;

[0040] Three Fulailun modules 3 are evenly arranged on the lower surface of the chassis module 4 along the circumferential edge. On both sides of the middle of the upper surface of the chassis module 4, a badminton tube module 6 is provided respectively. A badminton compaction module 8 is provided beside each badminton tube module 6. A detection box module 2 is provided at one end of the upper surface of the chassis module 4. An identification camera module 1 is provided on the upper surface of the detection box module 2. A robotic arm module 5 is provided at the other end of the upper surface of the chassis module 4. The control module 7 is provided on the bottom surface of the chassis module 4;

[0041] The detection box module 2 includes a detection box body 21, a badminton seat 22, a seat baffle 23, a seat baffle servo 24, a turntable outer ring 25, a turntable inner ring 26, a flange 27, a flange motor 28, a detection box detection lens 29, and a fill light 210;

[0042] A square through hole is provided at the bottom edge of the front surface of the detection box body 21. A seat baffle 23 is provided at the square through hole. A flange motor 28 is provided at the center of the bottom surface of the detection box body 21. After the output end of the flange motor 28 passes through the detection box body 21, it is connected to the bottom of the seat baffle 23 through the flange 27. The lower end surface of the detection box body 21 is fixedly connected to the upper surface of the chassis module 4. The turntable inner ring 26 is provided in the inner hole of the turntable outer ring 25, and a rolling body is provided between the outer surface of the turntable inner ring 26 and the inner surface of the turntable outer ring 25. The turntable inner ring 26 is connected to the seat baffle 23 by bolts. The seat baffle servo 24 is used to drive the badminton seat 22 to rotate. A detection box detection lens 29 is provided on the inner wall of the detection box body 21, and a fill light 210 is provided below the detection box detection lens 29;

[0043] In this specific embodiment, when in use, when the camera 11 of the recognition camera module 1 detects a badminton, it will transmit the position information to the control module 7. The control module 7 will automatically match the optimal path according to the algorithm, thereby driving the Fulai wheel motor 31 of the Fulai wheel module 3 to control the rotation speed and direction of the wheel 33, so that the badminton robot can run straight to the position of the badminton. The control module 7 will control the upper chassis 41 and the inner ring of the turntable ring 42 to rotate relative to the rest of the chassis module 4 under the drive of the turntable motor 44, so that the fuselage can be rotated to a specified angle, making it more convenient for the robotic arm module 5 to grab the badminton. The robotic arm module 5 uses a six-degree-of-freedom robotic arm and a gripper 51 to cooperate to finally complete the grabbing of the badminton. During the grabbing process, the pressure sensor 512 on the gripper 51 in the robotic arm module 5 will feedback the clamping force to the control module 7, and the algorithm will automatically match the appropriate force to ensure that the clamping force of the gripper 51 can pick up the badminton without damaging the badminton, thus realizing the grabbing function.

[0044] Then, the robotic arm module 5 will send the badminton to the badminton seat 22 of the detection box module 2. Then, the flange motor 28 will drive the flange 27 and the ball seat baffle 23 to rotate, completing the "closing" effect, that is, the detection box module will close. After the ball seat baffle 23 closes the detection box module 2, the variable "light" will be controlled so that the "light" inside the detection box is only emitted by the supplementary light 210, making the detection effect of the detection lens 29 more stable. The detection box module 2 will start to detect the appearance of the badminton. First, the detection lens 29 of the detection box will detect the badminton. At the same time, the ball seat baffle servo 24 of the detection box module 2 is used to drive the badminton seat 22 to rotate, so that the detection lens 29 of the detection box scans every part of the badminton. Then, the algorithm will automatically identify the damaged and intact badminton, realizing the detection function. Then, the control module 7 will drive the robotic arm module 5 again to put the damaged badminton into the ball tube 61 of the right badminton tube module 6, and the intact badminton into the ball tube 61 of the left badminton tube module 6. When the robotic arm module 5 puts in a badminton, the badminton is placed at the initial position of the ball tube 61. Then, the ball tube motor 67 will run, driving the ball tube 61 to rotate 120° clockwise until the badminton is directly below the squeezer 82 of the badminton compaction module 8. Next, the badminton compaction module 8 will start to work. The squeezer 82 will drive the pressure sensor 81 to continuously run downward to squeeze the badminton, so as to make more space available inside the ball tube 61 to continue loading badminton. At the same time, the pressure sensor 81 transmits a signal to the control module 7, and the downward squeezing pressure of the squeezer 82 is intelligently adjusted according to the internal algorithm. After reaching certain conditions, the downward pressing will stop.

[0045] Finally, the cylinder motor 67 rotates counterclockwise by 120°, that is, the cylinder 61 is reset, and thus the process of collecting and detecting a badminton on the ground ends. The badminton picking robot of the present invention will continuously repeat the above process, and the cylinder 61 will continue to receive the badminton transported by the robotic arm module 5 and put it into the cylinder 61 of the badminton cylinder module 6 on different sides. During this process, the control module 7 will continuously receive the force feedback from the pressure sensor 81 of the compacted badminton module 8 until any one side of the badminton cylinder module 6 is completely filled with badminton, then the extrusion work will stop. At the same time, the control module 7 will send a signal to remind the staff on the badminton court to collect the badminton in the cylinder 61 of the badminton cylinder module 6. Finally, the function of automatically sorting good and bad badminton is realized.

[0046] Specific Embodiment 2: In combination with Figure 3 This embodiment will be described. This embodiment is a further limitation on the robot described in Specific Embodiment 1. For a badminton picking robot described in this embodiment, the recognition camera module 1 includes a camera 11, a connecting shaft 12, and a camera bracket 13; the top end of the camera bracket 13 is connected to the bottom surface of the camera 11 through the connecting shaft 12.

[0047] Specific Embodiment 3: In combination with Figure 7 and Figure 8 This embodiment will be described. This embodiment is a further limitation on the robot described in Specific Embodiment 2. For a badminton picking robot described in this embodiment, the omni-wheel module 3 includes an omni-wheel motor 31, a motor bracket 32, and a wheel 33; the output end of the omni-wheel motor 31 is provided with the wheel 33, and the omni-wheel motor 31 is fixedly connected to the bottom surface of the chassis module 4 through the motor bracket 32;

[0048] In this specific embodiment, the wheel 33 adopts an omni-wheel, which has a flexible and variable moving direction. According to the commands of the internal algorithm, it can realize the "omni-wheel" function, greatly reducing the useless work such as turning and reversing during the operation of a traditional four-wheeled vehicle. Finally, the omni-wheel module 3 can enable the badminton picking robot of the present invention to move straight to the position of the badminton.

[0049] Specific Embodiment 4: In combination with Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 15To describe this embodiment, this embodiment further limits the robot described in the third specific embodiment. A badminton ball picking robot described in this embodiment, the chassis module 4 includes an upper chassis 41, a turntable ring 42, a lower chassis 43, and a turntable motor 44. The upper surface of the lower chassis 43 is provided with the upper chassis 41. The turntable ring 42 is divided into an inner ring and an outer ring, and there are rolling elements between the two rings. The upper chassis 41 is connected to the inner ring of the turntable ring 42 by studs. The outer ring of the turntable ring 42 and the lower chassis 43 are connected by studs. A turntable motor 44 is provided between the center of the bottom surface of the upper chassis 41 and the center of the upper surface of the lower chassis 43. The bottom end of the turntable motor 44 is fixedly connected to the upper surface of the lower chassis 43, and the output end of the turntable motor 44 is fixedly connected to the bottom surface of the upper chassis 41.

[0050] Specific embodiment five: Combining Figure 12 and Figure 13 To describe this embodiment, this embodiment further limits the robot described in the fourth specific embodiment. A badminton ball picking robot described in this embodiment, the badminton tube module 6 includes a tube 61, a tube seat 62, a turntable connecting shaft 63, a turntable 64, a tube flange 65, a tube motor mounting bracket 66, and a tube motor 67;

[0051] The tube motor 67 is fixed on the upper surface of the upper chassis 41 in the chassis module 4 through the tube motor mounting bracket 66. The output end of the tube motor 67 is connected to the tube flange 65. Five innermost holes of the tube flange 65 and the turntable connecting shaft 63 are connected by screws. When the tube motor operates, it will drive the tube flange 65, the inner ring of the turntable 64, the turntable connecting shaft 63, the tube seat 62, and the tube 61 to rotate as a whole. The outermost hole of the turntable connecting shaft 63 and the tube seat 62 are connected by studs. The inner hole of the turntable connecting shaft 63 is connected to the inner hole of the turntable 64 by screws. The inner ring of the turntable 64 and the turntable connecting shaft 63 are connected by screws. The outer ring of the turntable 64 and the tube motor mounting bracket 66 are connected by studs. At least three tubes 61 are provided on the tube seat 62.

[0052] Specific embodiment six: Combining Figure 11 To describe this embodiment, this embodiment further limits the robot described in the fifth specific embodiment. A badminton ball picking robot described in this embodiment, the robotic arm module 5 includes a gripper 51, a first robotic arm motor 52, a second robotic arm motor 53, a third robotic arm motor 54, a fourth robotic arm motor 55, a robotic arm connecting rod 56, a fifth robotic arm motor 57, and a sixth robotic arm motor 58;

[0053] A motor base is respectively provided on each of the first robotic arm motor 52, the second robotic arm motor 53, the third robotic arm motor 54, the fourth robotic arm motor 55, the fifth robotic arm motor 57, and the sixth robotic arm motor 58. The output end of the sixth robotic arm motor 58 is fixed on the upper surface of the upper chassis 41 of the chassis module 4. The output end of the fifth robotic arm motor 57 is fixedly connected to the bottom surface of the motor base on the sixth robotic arm motor 58. The motor base on the fifth robotic arm motor 57 is connected to the motor base on the fourth robotic arm motor 55 through a robotic arm connecting rod 56. A bracket connecting block is provided on the output end of the fourth robotic arm motor 55. The side surface of the bracket connecting block is connected to the motor base on the third robotic arm motor 54 through another robotic arm connecting rod 56. The output end of the third robotic arm motor 54 is connected to the motor base on the second robotic arm motor 53. The output end of the second robotic arm motor 53 is connected to the motor base on the first robotic arm motor 52. A gripper 51 is provided on the output end of the first robotic arm motor 52;

[0054] In this specific embodiment, the robotic arm module 5 with such a structure is a six-degree-of-freedom robotic arm, which is convenient for clamping shuttlecocks in any direction on the ground.

[0055] Specific embodiment seven: Combine Figure 10 Describe this embodiment. This embodiment is a further limitation on the robot described in specific embodiment six. For a shuttlecock picking robot described in this embodiment, a pressure sensor 512 is provided on the clamping end surface of the clamp 511 on the gripper 51, and a sponge layer 513 is provided on the outer surface of the pressure sensor 512;

[0056] In this specific embodiment, a pressure sensor 512 is provided on the clamping end surface of the clamp 511 on the gripper 51, which will feedback a resistance signal to the control module 7, and the algorithm will automatically match an appropriate force to ensure that the force for the gripper 51 to grab is exactly sufficient to pick up the shuttlecock without damaging the shuttlecock.

[0057] Specific embodiment eight: Combine Figure 14 Describe this embodiment. This embodiment is a further limitation on the robot described in specific embodiment one. For a shuttlecock picking robot described in this embodiment, the compacting shuttlecock module 8 includes a squeezing sensor 81, a squeezer 82, and a squeezing frame 83. The squeezing frame 83 is an L-shaped bracket. One end of the horizontal section of the squeezing frame 83 is provided with a squeezer 82. The axis of the squeezer 82 is horizontally arranged with the axis of the vertical section of the squeezing frame 83. A squeezing sensor 81 is provided on the output end of the squeezer 82. The bottom end of the vertical section of the squeezing frame 83 is fixedly connected by bolts.

[0058] Working principle

[0059] During use, when the camera 11 of the recognition camera module 1 detects a badminton, it will transmit the position information to the control module 7. The control module 7 will automatically match the optimal path according to the algorithm, thereby driving the Fulei wheel motor 31 of the Fulei wheel module 3 to control the rotation speed and direction of the wheel 33, so that the badminton robot can run straight to the position of the badminton. The control module 7 will control the upper chassis 41 and the inner ring of the turntable ring 42 to rotate relative to the rest of the chassis module 4 under the drive of the turntable motor 44, so that the fuselage can be rotated to a specified angle, making it more convenient for the robotic arm module 5 to grab the badminton. The robotic arm module 5 uses a six-degree-of-freedom robotic arm and a gripper 51 to cooperate to finally complete the grabbing of the badminton. During the grabbing process, the pressure sensor 512 on the gripper 51 in the robotic arm module 5 will feedback the clamping force to the control module 7, and the algorithm will automatically match the appropriate force to ensure that the clamping force of the gripper 51 can pick up the badminton without damaging the badminton, thus realizing the grabbing function.

[0060] Then, the robotic arm module 5 will send the badminton to the badminton seat 22 of the detection box module 2. Then, the flange motor 28 will drive the flange 27 and the ball seat baffle 23 to rotate, completing the "closing" effect, that is, the detection box module will close. After the ball seat baffle 23 closes the detection box module 2, the variable "light" will be controlled so that the "light" inside the detection box is only emitted by the supplementary light 210, making the detection effect of the detection lens 29 more stable. The detection box module 2 will start to detect the appearance of the badminton. First, the detection lens 29 of the detection box will detect the badminton. At the same time, the ball seat baffle servo 24 of the detection box module 2 is used to drive the badminton seat 22 to rotate, so that the detection lens 29 of the detection box scans each part of the badminton. Then, the algorithm will automatically identify the damaged and intact badminton, realizing the detection function. Then, the control module 7 will drive the robotic arm module 5 to put the damaged badminton into the tube 61 of the right badminton tube module 6, and the intact badminton into the tube 61 of the left badminton tube module 6. When the robotic arm module 5 puts in a badminton, the badminton is placed at the initial position of the tube 61. Then, the tube motor 67 will run, driving the tube 61 to rotate 120° clockwise to the position where the badminton is directly below the squeezer 82 of the badminton compaction module 8. Next, the badminton compaction module 8 will start to work. The squeezer 82 will drive the pressure sensor 81 to continuously run downward to squeeze the badminton, so as to make more space available inside the tube 61 to continue loading badminton. At the same time, the pressure sensor 81 transmits a signal to the control module 7, and the downward extrusion pressure of the squeezer 82 is intelligently adjusted according to the internal algorithm. After reaching certain conditions, the downward pressure will stop.

[0061] Finally, the cylinder motor 67 rotates counterclockwise by 120°, that is, the cylinder 61 is reset. Thus, the process of collecting and detecting a badminton on the ground ends. The badminton picking robot of the present invention will continuously repeat the above process. The cylinder 61 continues to receive the badminton transported by the robotic arm module 5 and puts it into the cylinder 61 of the badminton cylinder module 6 on different sides. During this process, the control module 7 will continuously receive the force feedback from the pressure sensor 81 of the badminton compaction module 8 until any one side of the badminton cylinder module 6 is completely filled with badminton, then the extrusion work will stop. At the same time, the control module 7 will send a signal to remind the staff on the badminton court to collect the badminton in the cylinder 61 of the badminton cylinder module 6. Finally, the function of automatically sorting out good and bad badminton is realized.

Claims

1. A badminton ball picking robot, characterized in that: It comprises an identification camera module (1), a detection box module (2), a Furley wheel module (3), a chassis module (4), a mechanical arm module (5), a badminton ball barrel module (6), a control module (7) and a badminton compacting module (8); Three Furley wheel modules (3) are evenly arranged along the circumferential edge of the lower surface of the chassis module (4); a badminton ball barrel module (6) is respectively arranged on both sides of the middle of the upper surface of the chassis module (4); a badminton compacting module (8) is arranged on the side of each badminton ball barrel module (6); a detection box module (2) is arranged at one end of the upper surface of the chassis module (4); an identification camera module (1) is arranged on the upper surface of the detection box module (2); a mechanical arm module (5) is arranged at the other end of the upper surface of the chassis module (4); and a control module (7) is arranged on the bottom surface of the chassis module (4); The detection box module (2) comprises a detection box body (21), a badminton stand (22), a stand baffle (23), a stand baffle servo (24), a turntable outer ring (25), a turntable inner ring (26), a flange (27), a flange motor (28), a detection box detection lens (29) and a fill light (210); A square through hole is provided at the bottom edge of the front face of the detection box (21), and a ball seat baffle (23) is provided at the square through hole. A flange motor (28) is provided at the center of the bottom surface of the detection box (21). After the output end of the flange motor (28) passes through the detection box (21), it is connected to the bottom of the ball seat baffle (23) through the flange (27). The lower end surface of the detection box (21) is fixedly connected to the upper surface of the chassis module (4). The outer ring (27) of the turntable is fixedly connected to the upper surface of the bottom plate (4). 5), a turntable inner ring (26) is arranged in the inner hole of the turntable, and a rolling body is arranged between the outer surface of the turntable inner ring (26) and the inner surface of the turntable outer ring (25), the turntable inner ring (26) is connected to the ball seat baffle (23) by bolts, the ball seat baffle steering gear (24) is used to drive the badminton seat (22) to rotate, and a detection box detection lens (29) is arranged on the inner wall of the detection box body (21), and a fill light (210) is arranged below the detection box detection lens (29).

2. A badminton ball picking robot according to claim 1, characterized in that: The identification camera module (1) comprises a camera (11), a connecting shaft (12) and a camera bracket (13); the top end of the camera bracket (13) is connected to the bottom surface of the camera (11) via the connecting shaft (12).

3. A badminton ball picking robot according to claim 2, characterized in that: The Furley wheel module (3) comprises a Furley wheel motor (31), a motor bracket (32) and a wheel (33); the output end of the Furley wheel motor (31) is provided with a wheel (33), and the Furley wheel motor (31) is fixedly connected to the bottom surface of the chassis module (4) via the motor bracket (32).

4. A badminton ball picking robot according to claim 3, characterized in that: The chassis module (4) comprises an upper chassis (41), a turntable ring (42), a lower chassis (43) and a turntable motor (44); the upper chassis (41) is arranged on the upper surface of the lower chassis (43); the turntable ring (42) is divided into two inner and outer rings, a rolling body is arranged between the two rings; the upper chassis (41) is connected to the inner ring of the turntable ring (42) by means of studs; the outer ring of the turntable ring (42) is connected to the lower chassis (43) by means of studs; a turntable motor (44) is arranged between the center of the bottom surface of the upper chassis (41) and the center of the upper surface of the lower chassis (43); the bottom end of the turntable motor (44) is fixedly connected to the upper surface of the lower chassis (43); and the output end of the turntable motor (44) is fixedly connected to the bottom surface of the upper chassis (41).

5. A badminton ball picking robot according to claim 4, characterized in that: The badminton ball barrel module (6) comprises a ball barrel (61), a ball barrel seat (62), a turntable connecting shaft (63), a turntable (64), a ball barrel flange (65), a ball barrel motor mounting frame (66) and a ball barrel motor (67); The ball cylinder motor (67) is fixed on the upper surface of the upper chassis (41) in the chassis module (4) through a ball cylinder motor mounting frame (66); the output end of the ball cylinder motor (67) is connected to the ball cylinder flange (65); the ball cylinder flange (65) and the five innermost holes of the turntable connecting shaft (63) are connected by screws; when the ball cylinder motor is running, the ball cylinder flange (65), the inner ring of the turntable (64), the turntable connecting shaft (63), the ball cylinder seat (62), and the ball cylinder (61) are driven to rotate as a whole; the outermost hole of the turntable connecting shaft (63) is connected to the ball cylinder seat (62) by a stud; the inner hole of the turntable connecting shaft (63) is connected to the inner hole of the turntable (64) by a screw; the inner ring of the turntable (64) is connected to the turntable connecting shaft (63) by screws; the outer ring of the turntable (64) is connected to the ball cylinder motor mounting frame (66) by a stud; and at least three ball cylinders (61) are arranged on the ball cylinder seat (62).

6. A badminton ball picking robot according to claim 5, characterized in that: The robotic arm module (5) comprises a gripper (51), a first robotic arm motor (52), a second robotic arm motor (53), a third robotic arm motor (54), a fourth robotic arm motor (55), a robotic arm connecting rod (56), a fifth robotic arm motor (57) and a sixth robotic arm motor (58); A motor seat is provided on each of the first mechanical arm motor (52), the second mechanical arm motor (53), the third mechanical arm motor (54), the fourth mechanical arm motor (55), the fifth mechanical arm motor (57) and the sixth mechanical arm motor (58). The output end of the sixth mechanical arm motor (58) is fixed on the upper surface of the upper chassis (41) in the chassis module (4). The output end of the fifth mechanical arm motor (57) is fixedly connected to the bottom surface of the motor seat on the sixth mechanical arm motor (58). The motor seat on the fifth mechanical arm motor (57) is connected to the upper surface of the upper chassis (41) in the chassis module (4). 56) is connected to the motor seat on the No. 4 mechanical arm motor (55), a bracket connecting block is provided on the output end of the No. 4 mechanical arm motor (55), and the side of the bracket connecting block is connected to the motor seat on the No. 3 mechanical arm motor (54) through another mechanical arm connecting rod (56), the output end of the No. 3 mechanical arm motor (54) is connected to the motor seat on the No. 2 mechanical arm motor (53), the output end of the No. 2 mechanical arm motor (53) is connected to the motor seat on the No. 1 mechanical arm motor (52), and a clamping claw (51) is provided on the output end of the No. 1 mechanical arm motor (52).

7. A badminton ball picking robot according to claim 6, characterized in that: A pressure sensor (512) is provided on the clamping end surface of the clamp (511) on the clamping jaw (51), and a sponge layer (513) is provided on the outer surface of the pressure sensor (512).

8. The badminton ball picking robot according to claim 1, characterized in that: The compacting badminton module (8) comprises an extrusion sensor (81), an extruder (82) and an extrusion frame (83), wherein the extrusion frame (83) is an L-shaped frame, wherein an extruder (82) is provided at one end of a horizontal section of the extrusion frame (83), wherein the axis of the extruder (82) is arranged horizontally with the axis of a vertical section of the extrusion frame (83), wherein an extrusion sensor (81) is provided at the output end of the extruder (82), and the bottom end of the vertical section of the extrusion frame (83) is fixedly connected by bolts.

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