A dual-channel ball-collecting robot based on machine vision

Abstract

This invention discloses a dual-channel ball-collecting robot based on machine vision, belonging to the field of ball-collecting robots. It includes an omnidirectional mobile chassis, a bidirectional ball-collecting device, and a transfer and placement device. The chassis uses a carbon fiber and aluminum square tube base, with a wheel system capable of 360° directional rotation. Precise positioning is achieved using laser ranging and a fiber optic gyroscope. Conductive slip rings prevent wire entanglement, and a buffer device is included. The ball-collecting device contains a retractable ball-collecting module, actively collecting balls using Mecanum wheels and assisting in diversion with transverse omnidirectional wheels. It combines dual recognition cameras and deep learning technology to complete ball identification and judgment, achieving dual-channel classified collection. The transfer and placement device passes balls through an entry and transport channel, with a cylinder-driven gripper placing the balls. It is equipped with a power supply, pneumatic power source, and human-machine interface components. This robot can efficiently complete the automatic collection, identification, and classified placement of balls, and is suitable for various scenarios.

Description

Technical Field

[0001] This invention relates to the field of ball-collecting robot technology, and in particular to a dual-channel ball-collecting robot based on machine vision. Background Technology

[0002] In modern sports competitions and daily training scenarios, traditional ball sports such as table tennis, tennis, and picket ball are widely popular. However, with the increase in training intensity and the expansion of competition scale, the problem of ball accumulation on the court has become increasingly prominent. Taking a standard tennis court as an example, after a professional training session, the number of scattered tennis balls can reach hundreds. Within a diameter of 5 meters, the number of layers of balls stacked together often reaches 3-5 layers. Table tennis training halls need to handle more than 500 scattered table tennis balls every day. The difference in the coefficient of friction between the ball and the ground, and between the balls themselves, results in complex rolling trajectories. These densely piled balls not only hinder the movement of athletes, but also significantly increase the labor intensity of cleaning staff. A single manual ball collection usually takes more than 30 minutes, greatly reducing the efficiency of connecting training and competition.

[0003] While existing ball-collecting robots have partially achieved automated ball collection, they still have significant technical shortcomings. When faced with high-density ball clusters, ordinary roller-type ball-collecting mechanisms, lacking dynamic adaptive adjustment capabilities, are prone to ball-shaped blockages at the collection point. When the ball density exceeds a certain limit, the ball-collecting efficiency of traditional robots drops sharply by more than 40%, and ball jamming is highly likely during continuous collection. Furthermore, machine vision systems mostly use single-color recognition algorithms, which can only determine the direction and position of balls under ideal lighting conditions, and cannot distinguish between balls of different brands, wear levels, or those with special markings. In complex scenarios involving multiple fields and parallel training, when the color overlap of balls between adjacent fields exceeds 65%, the robot's miscollection rate reaches as high as 35%, severely disrupting the training process. More concerning is the insufficient efficiency, slow movement speed, and low flexibility of traditional robot ball-collecting devices. For balls with a rolling speed exceeding 3m / s, the interception success rate is less than 50%, causing balls to bounce off and into other fields after collisions, further exacerbating the chaos in ball management. These technological bottlenecks make it difficult for existing ball-collecting robots to adapt to open and dynamic real-world application scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-channel ball-collecting robot based on machine vision. By replacing traditional ball-collecting rollers with Mecanum wheels, balls are bidirectionally diverted into the dual channels. Machine vision then identifies and determines whether the balls are the designated types, accurately collecting the target balls. At the same time, an independent steering wheel system serves as the chassis, enabling rapid and flexible movement, improving ball-collecting efficiency and robot flexibility. Through modular design and a collaborative working mechanism, the robot achieves efficient ball collection, accurate identification, and flexible movement, overcoming the technical shortcomings of traditional robots.

[0005] To achieve the above objectives, the present invention provides a dual-channel ball-collecting robot based on machine vision, comprising an omnidirectional mobile chassis, a bidirectional channel ball-collecting device, and a transfer and placement device, wherein the omnidirectional mobile chassis, the bidirectional channel ball-collecting device, and the transfer and placement device are interconnected.

[0006] The omnidirectional mobile chassis includes a base made of carbon fiber sheet and aluminum square tube. The lower surface of the base is provided with several sets of wheel systems, and the upper surface is connected to a conductive slip ring through a conductive slip ring fixing component and is equipped with a positioning device. The side surface is provided with an impact buffer device. The omnidirectional mobile chassis is used to realize the robot's omnidirectional movement, precise positioning, avoid wire entanglement and buffer impact force.

[0007] The bidirectional channel ball-collecting device includes a frame made of aluminum square tubes and carbon fiber plates. The frame is equipped with a ball-collecting module and an identification and decision-making component. The ball-collecting module includes an active ball-collecting component and an auxiliary diversion component. The identification and decision-making component includes at least two identification cameras and a control unit. The bidirectional channel ball-collecting device is used to collect, divert, identify and judge balls and trigger subsequent actions.

[0008] The passing and placing device includes a frame made of carbon fiber sheet and aluminum square tube. The frame is equipped with a passing component, a placing component, a control component, a power supply compartment, a pneumatic source, an emergency stop switch, and human-machine interface components. The passing and placing device is used to pass the identified ball to a designated location.

[0009] Preferably, the wheel system is capable of 360° rudder rotation, used to drive the robot to move in all directions;

[0010] The conductive slip ring is used to prevent the power transmission and signal control lines from becoming entangled and broken when the wheel system rudder rotates.

[0011] The positioning device includes a laser ranging module and a fiber optic gyroscope, used to sense the robot's position coordinates in real time.

[0012] The impact buffer device consists of a POM plate and small rubber rollers, and is used to buffer the impact force generated by the robot's collision.

[0013] Preferably, the upper surface of the base is further provided with a ball restraint assembly, which includes a ball transport track, a ball collection auxiliary component, a ball collection blocking plate, and a ball movement circular belt shaft, which are respectively used to restrain the ball movement trajectory, assist the ball in entering the machine body, prevent the ball from hitting the wheel system, and connect the transfer and placement device to transfer the ball;

[0014] The base is detachably connected to the bidirectional channel ball receiving device through the first hole of the plate and aluminum square tube, and detachably connected to the transfer and placement device through the second hole.

[0015] Preferably, the active ball-collecting assembly includes a Mecanum wheel, which is fixedly connected to the aluminum square tube of the frame via a connecting shaft and is driven to rotate by a Mecanum wheel shaft drive motor to provide a ball-collecting force that drives the ball to move towards the vehicle body;

[0016] The auxiliary diversion component includes a transverse omnidirectional wheel, which is connected to a single omnidirectional wheel drive motor via gears and a synchronous belt to achieve rotation in two directions. This is used to assist in the lateral movement and diversion of the balls and to prevent the balls from being rolled up and broken.

[0017] The ball-collecting module can extend and retract on the frame, extending when in operation and retracting when not in operation.

[0018] Preferably, the control unit includes a collection identification channel and a collection decision channel. The collection identification channel is symmetrically arranged on both sides of the ball collection module and is driven by the Mecanum wheel. The collection decision channel is vertically arranged at the end of the collection identification channel and is driven by the decision channel motor.

[0019] The recognition camera is used to acquire images and identify features of balls entering the collection and recognition channel. The decision channel motor controls the collection decision channel to collect or discharge the balls into the machine body based on the recognition results.

[0020] Preferably, the bidirectional channel ball receiving device is further provided with a position detection component, which is used to determine whether the ball has reached the preset position and trigger the operation of the transfer and placement device;

[0021] The bidirectional channel ball receiving device is detachably connected to the first hole of the base via a screw at the third hole on the frame, and the bidirectional channel ball receiving device is connected to the transfer and placement device via a fourth hole on the frame.

[0022] Preferably, the passing assembly includes a ball selection channel and a ball transport channel. The ball selection channel is driven by a selection motor and is used to connect to the bidirectional channel ball receiving device. The ball transport channel is driven by a transport motor and is used to transport the ball to the working range of the placement assembly.

[0023] The placement assembly includes a cylinder-driven guide groove linkage gripper, which is driven by a flip motor to rotate around an axis, used to hold and move the ball out of the machine body for placement.

[0024] The control assembly includes a control element compartment, which has a hollow design for placing electronic components and achieving heat dissipation.

[0025] Preferably, the power supply compartment and the pneumatic source provide electricity and pneumatic power to the robot, respectively; the emergency stop switch is used to cut off the power system in case of loss of control; the human-machine interface component is used to input and receive parameters and control the robot's operation.

[0026] The transfer and placement device is detachably connected to the second hole of the base through the fifth hole on the frame, and the transfer and placement device is detachably connected to the fourth hole of the frame through the sixth hole on the frame.

[0027] Preferably, the bidirectional channel ball receiving device uses a camera combined with a deep learning method to identify and locate balls, and the deep learning method is used to distinguish balls of different types, brands or degrees of wear.

[0028] Therefore, the present invention employs the above-mentioned dual-channel ball-collecting robot based on machine vision, which has the following technical advantages:

[0029] (1) Efficient ball collection and diversion: This invention uses the Mecanum wheel to actively collect the ball and the transverse omnidirectional wheel to assist in diversion, forming a dual-channel ball collection structure. This solves the problem of ball jamming in high-density ball groups in traditional single-channel systems, while avoiding ball rolling and breakage, and significantly improving ball collection efficiency.

[0030] (2) Accurate identification and decision-making: The present invention is based on machine vision and deep learning identification and decision-making components, combined with symmetrically set collection and identification channels, which can accurately distinguish different types, brands or wear levels of balls, reduce the false collection rate, and adapt to the complex environment of open fields.

[0031] (3) Flexible movement and positioning: The 360° steering wheel system of the all-round mobile chassis of this invention works in conjunction with the positioning device to realize the robot's flexible movement and precise positioning, thereby improving its adaptability to complex terrain and the success rate of intercepting rolling balls.

[0032] (4) Modular collaborative design: In this invention, each device is connected by disassembly through holes, taking into account both structural stability and maintenance convenience. The ball constraint component and the transfer structure ensure the stability of the ball's movement trajectory and reduce bouncing and impact.

[0033] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a dual-channel ball-collecting robot based on machine vision according to the present invention;

[0035] Figure 2 This is a side view of a dual-channel ball-collecting robot based on machine vision according to the present invention;

[0036] Figure 3This is a schematic diagram of the omnidirectional mobile chassis of a dual-channel ball-collecting robot based on machine vision according to the present invention.

[0037] Figure 4 This is a side view of the omnidirectional mobile chassis of a dual-channel ball-collecting robot based on machine vision according to the present invention.

[0038] Figure 5 This is a top view of the omnidirectional mobile chassis of a dual-channel ball-collecting robot based on machine vision according to the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of a two-way ball-collecting robot based on machine vision according to the present invention.

[0040] Figure 7 This is a side view of a two-way ball-collecting robot based on machine vision, according to the present invention.

[0041] Figure 8 This is a top view of a two-way ball-collecting robot based on machine vision, according to the present invention.

[0042] Figure 9 This is a schematic diagram of the structure of a dual-channel ball receiving robot transfer and placement device based on machine vision according to the present invention;

[0043] Figure 10 This is a side view of a dual-channel ball receiving robot transfer and placement device based on machine vision according to the present invention;

[0044] Figure 11 This is a front view of a dual-channel ball receiving robot transfer and placement device based on machine vision according to the present invention.

[0045] Figure Labels

[0046] 1. Base; 2. Wheel system; 3. Conductive slip ring; 4. Conductive slip ring fixing component; 5. Positioning device; 51. Laser ranging module; 52. Fiber optic gyroscope; 6. Impact buffer device; 61. POM board; 62. Rubber roller; 7. Ball restraint assembly; 71. Ball transfer track; 72. Ball collection auxiliary component; 73. Ball collection blocking plate; 74. Ball moving circular belt shaft; 8. First hole; 9. Second hole; 10. Frame; 11. Ball collection module; 111. Active ball collection assembly; 1111. Mecanum wheel; 1112. Mecanum wheel shaft drive motor; 112. Auxiliary diversion assembly; 1121. Transverse omnidirectional wheel; 1122. Omnidirectional wheel drive motor; 12. Recognition decision assembly; 121. Recognition camera a; 122. Recognition camera b; 23. Control unit; 1231. Receiving and identification channel; 1232. Receiving and decision-making channel; 1233. Decision-making channel motor; 13. Position detection component; 131. Identification camera c; 14. Third hole; 15. Fourth hole; 16. Frame; 17. Passing assembly; 171. Ball selection channel; 172. Ball transport channel; 173. Selection motor; 174. Transport motor; 18. Placement assembly; 181. Guide rail linkage gripper; 182. Tilting motor; 19. Control assembly; 191. Control element compartment; 20. Power supply compartment; 21. Pneumatic source; 22. Emergency stop switch; 23. Human-machine interface component; 24. Fifth hole; 25. Sixth hole; 26. Omnidirectional moving chassis; 27. Two-way channel ball receiving device; 28. Passing and placement device. Detailed Implementation

[0047] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0049] like Figures 1 to 2As shown, a dual-channel ball-collecting robot based on machine vision includes an omnidirectional mobile chassis 26, a bidirectional channel ball-collecting device 27, and a transfer and placement device 28. The three are interconnected and work together to realize the positioning, collection, identification, transfer, and placement of balls in sequence.

[0050] like Figures 3 to 5 As shown, the omnidirectional mobile chassis 26 is used to realize the omnidirectional movement and precise positioning of the robot. It includes a base 1 made of carbon fiber plates and aluminum square tubes, which is both lightweight and high-strength, providing stable support for the entire robot.

[0051] The lower surface of the base 1 is equipped with three wheel systems 2 that can achieve 360° rudder rotation. The wheel systems 2 are made of polyurethane coated wheels and are driven independently to enable the robot to move in all directions and turn at any angle.

[0052] The upper surface of the base 1 is connected to a conductive slip ring 3 via a conductive slip ring fixing member 4, which is used to centrally transfer the power transmission and signal control lines of the wheel system 2, so as to prevent the lines from getting tangled or broken when the wheel system 2 rotates.

[0053] The base 1 is equipped with a positioning device 5, including a laser ranging module 51 and a fiber optic gyroscope 52, which can sense the robot's position coordinates in real time, guide the robot to move to the ball accumulation area, and ensure accurate positioning when collecting the balls.

[0054] The base 1 has an impact buffer device 6 along the edge of its side surface. It consists of a POM plate 61 and a small rubber roller 62, which is used to buffer the impact force generated by the robot colliding with obstacles on the field and protect the robot structure.

[0055] The upper surface of the base 1 is provided with a ball restraint assembly 7, which includes a ball transport track 71, a ball collection auxiliary component 72, a ball collection blocking plate 73, and a ball moving circular belt shaft 74. The ball transport track 71 is used to restrain the movement trajectory of the ball within the machine body. The ball collection auxiliary component 72 assists scattered balls to enter the machine body. The ball collection blocking plate 73 prevents the balls from hitting the wheel system 2 due to excessive rolling speed. The ball moving circular belt shaft 74 is located at the rear end of the upper surface of the base 1 and docks with the transfer and placement device 28 to achieve stable ball transfer.

[0056] The base 1 is connected to the bidirectional ball receiving device 27 and the transfer and placement device 28 respectively through the first hole 8 and the second hole 9 of the plate and aluminum square tube, which facilitates the maintenance and replacement of components.

[0057] like Figures 6 to 8As shown, the bidirectional ball-collecting device 27 is used to collect, divert, and identify balls. It includes a frame 10 constructed from aluminum square tubing and carbon fiber sheets, providing rigid support for the ball-collecting module 11 and the identification decision component 12. The ball-collecting module 11 includes an active ball-collecting component 111 and an auxiliary diversion component 112.

[0058] The active ball-collecting assembly 111 uses a Mecanum wheel 1111, which is fixedly connected to a 10×10mm aluminum square tube with a wall thickness of 1mm on the frame 10 via a 3D-printed connecting shaft. It is driven to rotate by a Mecanum wheel shaft drive motor 1112. During operation, it provides a ball-collecting force to drive the ball to move in a 45° direction towards the vehicle body, achieving efficient ball collection. The auxiliary diversion assembly 112 uses a transverse omnidirectional wheel 1121, which is connected to a single omnidirectional wheel drive motor 1122 via gears and a synchronous belt. It can rotate in two directions, assisting in the lateral movement and diversion of the ball, avoiding damage caused by the ball being squeezed and crushed by the vehicle body. The ball-collecting module 11 can extend and retract on the frame 10. It extends during operation to expand the ball-collecting range and retracts when not in operation to reduce the size of the machine body.

[0059] The identification decision component 12 includes an identification camera a121, an identification camera b122, and a control unit 123. The control unit 123 includes a receiving identification channel 1231 and a receiving decision channel 1232. The receiving identification channel 1231 is located on both sides of the ball receiving module 11 and shares the same Mecanum wheel shaft drive motor 1112 with the Mecanum wheel 1111 to achieve co-drive, ensuring the stability of the ball's movement when entering the channel. The receiving decision channel 1232 is vertically located at the end of the receiving identification channel 1231 and is independently driven by the decision channel motor 1233. The identification camera captures images of the balls entering the receiving identification channel 1231 and identifies information such as type, brand, and wear level through feature extraction. The decision channel motor 1233 controls the forward and reverse rotation of the receiving decision channel 1232 according to the identification results, so as to collect the target ball into the machine or expel the non-target ball.

[0060] The decision-making channel 1232 is equipped with a position detection component 13, which consists of a recognition camera c131, to determine whether the ball has reached the preset position. When the ball is detected to be in place, the transfer and placement device 28 is triggered to operate.

[0061] The frame 10 is detachably connected to the base 1 by screws through the preset third hole 14 and the first hole 8, and is connected to the transfer and placement device 28 through the preset fourth hole 15, ensuring structural stability and ease of assembly.

[0062] like Figures 9 to 11 As shown, the passing and placing device 28 is used to pass and place the identified target ball to a designated position. It includes a frame 16 made of carbon fiber plates and aluminum square tubes to support the passing assembly 17, the placing assembly 18 and the control assembly 19 to work together.

[0063] The passing assembly 17 includes a ball receiving channel 171 and a ball transport channel 172. The ball receiving channel 171 is driven by a receiving motor 173 and is used to connect to the bidirectional channel ball receiving device 27 to receive balls. The ball transport channel 172 is driven by a transport motor 174 and is used to transport balls to the working range of the placement assembly 18.

[0064] The placement assembly 18 includes a cylinder-driven guide groove linkage gripper 181. The guide groove width of the guide groove linkage gripper 181 is adapted to the diameter of the ball. The guide groove linkage gripper 181 is driven by the flipping motor 182 to perform a flipping action. Under the cylinder drive, the guide groove linkage gripper 181 grasps the ball and moves the ball out of the machine body and places it in the designated area under the rotation action.

[0065] The control component 19 includes a control element compartment 191, which has a hollow design to house electronic components such as the main control board and sensors, and achieves efficient heat dissipation through natural ventilation.

[0066] The transfer and placement device 28 also includes a power supply compartment 20, a pneumatic power source 21, an emergency stop switch 22, and a human-machine interface component 23; the power supply compartment 20 and the pneumatic power source 21 provide power and pneumatic power to the robot, respectively; the emergency stop switch 22 cuts off the power system when the robot goes out of control to ensure operational safety; the human-machine interface component 23 is a human-machine interactive touch screen used to input and receive parameters and display the working status;

[0067] The frame 16 is detachably connected to the second hole 9 of the base 1 through the preset fifth hole 24, and detachably connected to the fourth hole 15 of the frame 10 through the preset sixth hole 25, so as to realize the rigid fixation and coordinated operation of the three devices.

[0068] Working principle:

[0069] Mobile positioning: Under the guidance of the positioning device 5, the omnidirectional mobile chassis 26 moves to the ball accumulation area and is precisely positioned by the 360° rudder wheel system 2. The conductive slip ring 3 prevents the wires from getting tangled, and the impact buffer device 6 deals with possible collisions.

[0070] Ball collection and diversion: The ball collection module 11 of the two-way channel ball collection device 27 extends, the Mecanum wheel 1111 actively collects the ball, and the horizontal omnidirectional wheel 1121 assists in diverting the ball to the collection and identification channels 1231 on both sides to avoid the ball getting stuck and the ball being damaged.

[0071] Recognition Decision: Recognition camera a121 and recognition camera b122 acquire images of balls entering the collection recognition channel 1231, and perform feature recognition by combining deep learning. The decision channel motor 1233 controls the collection decision channel 1232 according to the recognition results, so that the target ball is collected into the machine and the non-target ball is discharged.

[0072] Placement by transfer: Position detection component 13 identifies the trigger signal of camera c131, and the ball selection channel 171 of the placement device 28 cooperates with the ball moving circular belt shaft 74 to receive the ball, which is then transported to the placement component 18 via ball transport channel 172. The guide groove connecting rod gripper 181 holds the ball, and the rotation is controlled by the flip motor 182 to place the ball into the designated area.

[0073] Continuous operation: The robot adjusts its position by moving its chassis 26 in all directions and repeats the above steps to continuously collect balls within the area.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dual-channel ball-collecting robot based on machine vision, characterized in that: It includes an all-around mobile chassis, a two-way channel ball receiving device, and a transfer and placement device, wherein the all-around mobile chassis, the two-way channel ball receiving device, and the transfer and placement device are interconnected. The omnidirectional mobile chassis includes a base made of carbon fiber sheet and aluminum square tube. The lower surface of the base is provided with several sets of wheel systems, and the upper surface is connected to a conductive slip ring through a conductive slip ring fixing component and is equipped with a positioning device. The side surface is provided with an impact buffer device. The omnidirectional mobile chassis is used to realize the robot's omnidirectional movement, precise positioning, avoid wire entanglement and buffer impact force. The bidirectional channel ball-collecting device includes a frame made of aluminum square tubes and carbon fiber plates. The frame is equipped with a ball-collecting module and an identification and decision-making component. The ball-collecting module includes an active ball-collecting component and an auxiliary diversion component. The identification and decision-making component includes at least two identification cameras and a control unit. The bidirectional channel ball-collecting device is used to collect, divert, identify and judge balls and trigger subsequent actions. The active ball-collecting assembly includes a Mecanum wheel, which is fixedly connected to the aluminum square tube of the frame via a connecting shaft and driven by a Mecanum wheel shaft drive motor to provide the ball-collecting force that drives the balls to move towards the vehicle body. The auxiliary diversion assembly includes a transverse omnidirectional wheel, which is connected to a single omnidirectional wheel drive motor via gears and a synchronous belt to achieve rotation in two directions. This is used to assist in the lateral movement and diversion of the balls and to prevent the balls from being rolled up and broken. The ball-collecting module can extend and retract on the frame, extending when working and retracting when not working. The control unit includes a collection recognition channel and a collection decision channel. The collection recognition channel is symmetrically arranged on both sides of the ball collection module and is driven by the Mecanum wheel. The collection decision channel is vertically arranged at the end of the collection recognition channel and is driven by the decision channel motor. The recognition camera is used to acquire images and recognize features of the balls entering the collection recognition channel. The decision channel motor controls the collection decision channel to collect or eject the balls from the machine body based on the recognition results. The bidirectional channel ball receiving device is also equipped with a position detection component, which is used to determine whether the ball has reached the preset position and trigger the operation of the transfer and placement device; the bidirectional channel ball receiving device is detachably connected to the first hole of the base through the third hole on the frame and the bidirectional channel ball receiving device is connected to the transfer and placement device through the fourth hole on the frame; The passing and placing device includes a frame made of carbon fiber sheet and aluminum square tube. The frame is equipped with a passing component, a placing component, a control component, a power supply compartment, a pneumatic source, an emergency stop switch, and human-machine interface components. The passing and placing device is used to pass the identified ball to a designated location.

2. The dual-channel ball-collecting robot based on machine vision according to claim 1, characterized in that: The wheel system is capable of 360° rudder rotation, which is used to drive the robot to move in all directions; The conductive slip ring is used to prevent the power transmission and signal control lines from becoming entangled and broken when the wheel system rudder rotates. The positioning device includes a laser ranging module and a fiber optic gyroscope, used to sense the robot's position coordinates in real time. The impact buffer device consists of a POM plate and small rubber rollers, and is used to buffer the impact force generated by the robot's collision.

3. The dual-channel ball-collecting robot based on machine vision according to claim 2, characterized in that: The upper surface of the base is also provided with a ball restraint assembly, which includes a ball transport track, a ball collection auxiliary component, a ball collection blocking plate, and a ball movement circular belt shaft, which are respectively used to restrain the ball movement trajectory, assist the ball in entering the machine body, prevent the ball from hitting the wheel system, and connect the transfer and placement device to transfer the ball; The base is detachably connected to the bidirectional channel ball receiving device through the first hole of the plate and aluminum square tube, and detachably connected to the transfer and placement device through the second hole.

4. The dual-channel ball-collecting robot based on machine vision according to claim 1, characterized in that: The passing assembly includes a ball selection channel and a ball transport channel. The ball selection channel is driven by a selection motor and is used to connect to the bidirectional channel ball receiving device. The ball transport channel is driven by a transport motor and is used to transport the ball to the working range of the placement assembly. The placement assembly includes a cylinder-driven guide groove linkage gripper, which is driven by a flip motor to rotate around an axis, used to hold and move the ball out of the machine body for placement. The control assembly includes a control element compartment, which has a hollow design for placing electronic components and achieving heat dissipation.

5. A dual-channel ball-collecting robot based on machine vision according to claim 1, characterized in that: The power supply compartment and pneumatic source provide the robot with electricity and pneumatic power, respectively; the emergency stop switch is used to cut off the power system in case of loss of control; the human-machine interface component is used to input and receive parameters and control the robot's operation; The transfer and placement device is detachably connected to the second hole of the base through the fifth hole on the frame, and the transfer and placement device is detachably connected to the fourth hole of the frame through the sixth hole on the frame.

6. A dual-channel ball-collecting robot based on machine vision according to claim 1, characterized in that: The bidirectional ball receiving device uses a camera combined with deep learning methods to identify and locate balls. The deep learning method is used to distinguish balls of different types, brands, or wear levels.

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