Intelligent robot for sorting ball objects based on visual identification

Abstract

The utility model discloses an intelligent ball object sorting robot based on visual identification, belongs to the technical field of robots, and aims to solve the problem that an existing ball object picking robot does not have sorting and warehousing functions. Comprising a chassis, a picking device and a warehousing device are arranged on the chassis front and back, the warehousing device comprises a warehousing frame, a vertically-arranged guide rail set is arranged on the warehousing frame, a mechanical arm assembly comprises a steering ring, a driven gear tooth structure is arranged on the inner circumference of the steering ring, the steering ring is connected with an outer ring of a steering bearing, and a connecting base is connected with an inner ring of the steering bearing; a steering motor and a sliding block set are arranged on the connecting base, a driving gear on an output shaft of the steering motor is meshed with the driven gear tooth structure, the sliding block set is in sliding fit with the guide rail set, and the output end of a lifting device on the warehousing frame is connected with the connecting base. Based on the visual identification function, the intelligent ball picking machine can automatically pick, sort and warehouse ball objects, is high in automation degree and intelligent degree, and is suitable for being applied to multiple fields such as physical training and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to an intelligent robot for sorting ball objects based on visual recognition. Background Art

[0002] The picking and sorting of balls can occur in a variety of fields, including logistics and warehousing, automated factories, and sports training. In the field of sports training, various ball-picking robots have been studied in the prior art. For example, Chinese invention patent publication number CN107854822A discloses an intelligent ball-picking robot, which is designed to be like a forklift and uses a shovel to collect scattered ping-pong balls on a field. Chinese invention patent publication number CN112589804A discloses an intelligent ball-picking robot and a control method for its robotic arm, which is designed to pick up balls using a robotic arm.

[0003] However, existing ball-picking robots generally only have a collection function, without a sorting function. They are unable to remove non-target balls with similar diameters. For example, when picking balls based on color, sorting is impossible. Furthermore, existing ball-picking robots generally carry the picked balls themselves and do not store them in a warehouse. After picking, the collected balls need to be manually returned to the warehouse, otherwise the picking process will be impossible. Utility Model Content

[0004] The purpose of this utility model is to provide an intelligent robot for sorting ball objects based on visual recognition, so as to solve the problem that existing ball picking robots do not have the functions of sorting and warehousing. The technical solutions adopted by this utility model are as follows:

[0005] An intelligent robot for sorting ball objects based on visual recognition, comprising a chassis, a picking device and a warehousing device, wherein a plurality of running wheels are provided at the bottom of the chassis;

[0006] The picking device includes a picking frame, which is located at the front part of the chassis, and is provided with a front and rear transparent hole on the picking frame, the upper end of the oblique shovel is connected to the front end of the screening platform through the lower edge of the hole, and the lower end of the oblique shovel is tilted forward, and a first driving pulley and a first driven pulley are rotatably provided on the picking frame above the oblique shovel, and the picking motor is connected to the picking frame, and the output shaft of the picking motor is connected to the first driving pulley, and the first driving pulley and the first driven pulley are connected through a first conveyor belt, and the lower end surface of the first conveyor belt is parallel to the shoveling surface of the oblique shovel, and the distance between the lower end surface of the first conveyor belt and the oblique shovel is set according to the ball diameter of the ball object, and the lower end surface of the first conveyor belt transports from front to rear;

[0007] The hopper is provided with a second driven pulley at the upper end of the hopper, and a second driving pulley is provided at the lower end of the hopper, and a lifting motor is provided on the chassis. The lifting motor drives the second driving pulley to rotate, and the second driving pulley and the second driven pulley are connected by a first transmission belt. The mechanical arm assembly includes a steering ring, the inner circumference of the steering ring is provided with a driven gear structure, the inner circumference of the steering ring is connected to the outer ring of the steering bearing, the connecting seat is connected to the inner ring of the steering bearing, the connecting seat is provided with a steering motor and a slider group, the output shaft of the steering motor is sleeved with a driving gear, the main gear is provided with a plurality of gears, and the gears are connected to the upper and lower ends of the hopper. The driven gear is meshed with the driven gear tooth structure, the slider group is slidably matched with the guide rail group, a connecting piece is provided at any point on the first transmission belt, the connecting seat is connected to the connecting piece, one side of the steering ring is connected to the grabbing frame, and two grabbing motors are provided on the grabbing frame. One end of the two arc-shaped clamping arms is connected to the output shafts of the two grabbing motors in a one-to-one correspondence. When the picking device picks up a ball object, the two arc-shaped clamping arms are separated and surrounded on both sides and the rear end edge of the screening platform. When the two arc-shaped clamping arms swing horizontally toward each other, the ball object is clamped and transmitted to the screening platform; when the two arc-shaped clamping arms swing horizontally in the same direction, the ball object on the screening platform is removed, and when the two arc-shaped clamping arms swing horizontally in opposite directions, the ball object is released;

[0008] A first depth camera is provided at the top of the picking rack, facing the ground in front; a second depth camera is provided at the top of the warehousing rack, facing the rear; a screening camera is provided on the rear side of the picking rack, facing the screening platform.

[0009] Furthermore, a first transmission gear is sleeved on the output shaft of the lifting motor, a second transmission gear is sleeved on one end of the rotating shaft of the second driving pulley, and the first transmission gear is meshed with the second transmission gear.

[0010] Furthermore, positioning holes are provided on the screening platform.

[0011] Furthermore, the running wheel is an AGV steering wheel.

[0012] Furthermore, a plurality of batteries are provided on the chassis, and the plurality of batteries are electrically connected to the steering gears of the plurality of running wheels in a one-to-one correspondence.

[0013] Furthermore, a code disc and several distance sensors are provided on the chassis for positioning the robot.

[0014] Furthermore, the picking device also includes an introduction device, and the introduction devices are respectively provided on the left and right sides of the oblique shovel, and the introduction device includes a third driving pulley and a third driven pulley that are rotatably arranged, the introduction motor is connected to the picking frame, and the output shaft of the introduction motor is connected to the third driving pulley, the third driving pulley and the third driven pulley are connected through the second conveyor belt, the axial direction of the third driving pulley and the third driven pulley is vertically arranged, and the inner sides of the two second conveyor belts are transported from front to back.

[0015] Furthermore, an introduction camera is provided on the introduction device, and the introduction camera faces the front end of the oblique shovel.

[0016] The two wheels are connected to each other via a second drive belt, and the two wheels are connected to each other via a second drive belt, and the two wheels are connected to each other via a second drive belt, and the two wheels are connected to each other via a second drive belt, and the two wheels are connected to each other via a second drive belt, and the two wheels are connected to each other via a second drive belt, and the two wheels are connected

[0017] Furthermore, the inner sides of the two second conveyor belts gradually converge from front to back.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The design of the utility model is based on the characteristics of ball objects. The picking device significantly improves the efficiency of identifying and picking up ball objects. The mechanical arm assembly and the identification camera realize secondary identification and sorting of ball objects, significantly improving the fault tolerance rate and reducing the probability of classification errors. The warehousing device can clamp the ball objects determined to be picked up and put them into the warehouse. Based on the visual recognition function, the utility model can automatically pick up, sort and put ball objects into the warehouse. It has a high degree of automation and intelligence and is suitable for application in logistics warehousing, automated factories or auxiliary sports training fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an axonometric drawing of the present utility model;

[0021] Figure 2 It is an axonometric view of the present invention from the rear side perspective;

[0022] Figure 3 It is an axonometric view of the connection between the picking device and the screening platform;

[0023] Figure 4 This is an axonometric view from another perspective showing the connection between the picking device and the screening platform;

[0024] Figure 5 It is a schematic diagram of the structure and connection of the fence device;

[0025] Figure 6 It is a schematic diagram of the structure and position of the introduction device;

[0026] Figure 7 This is the axonometric drawing of the coordination between the steering ring and the silo rack;

[0027] Figure 8 This is an axonometric drawing from another perspective showing the coordination between the steering ring and the silo;

[0028] Figure 9 It is a structural diagram of the robotic arm assembly.

[0029] In the figure, 1. chassis, 11. walking wheel, 2. picking device, 21. picking frame, 22. picking motor, 23. first depth camera, 24. first driving pulley, 25. first driven pulley, 26. oblique shovel, 27. hole, 28. identification camera, 29. inner connecting ear, 210. outer connecting ear, 3. warehousing device, 31. warehousing frame, 32. guide rail assembly, 33. second driven pulley, 34. first transmission gear, 35. second transmission gear, 36. second depth camera, 4. robotic arm assembly, 41. steering ring, 42. driving gear, 43. 3. Steering motor, 44. Slider assembly, 45. Connecting seat, 46. Arc-shaped clamping arm, 47. Grabbing motor, 48. Driven gear structure, 49. Grabbing frame, 5. Barrier device, 51. Drum motor, 52. Drum main shaft, 53. Fourth driving pulley, 54. Pitch motor, 55. Fourth driven pulley, 56. Drum, 57. Swing arm, 58. Articulated shaft head, 6. Lead-in device, 61. Main line pipeline, 62. Lead-in camera, 63. Second conveyor belt, 64. Third driven pulley, 65. Lead-in motor, 7. Screening platform, 71. Locating pothole. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments illustrated in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. Furthermore, descriptions of known structures and technologies are omitted in the following description to avoid unnecessary confusion regarding the concepts of the present invention.

[0031] The connections mentioned in this utility model are divided into fixed connections and detachable connections. The fixed connection refers to a non-detachable connection, including but not limited to conventional fixed connection methods such as hem connection, rivet connection, adhesive connection, and welding connection. The detachable connection refers to but not limited to conventional detachable connection methods such as bolt connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly specified, it is assumed that at least one connection method can be found among the existing connection methods to achieve the function. Those skilled in the art can choose according to their needs. For example, a fixed connection may be a welding connection, and a detachable connection may be a bolt connection.

[0032] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0033] Example: Figures 1 to 9 As shown, a ball object sorting intelligent robot based on visual recognition includes a chassis 1, a picking device 2 and a warehousing device 3. The bottom of the chassis 1 is provided with a plurality of running wheels 11;

[0034] The picking device 2 includes a picking frame 21, which is located at the front part of the chassis 1. A hole 27 that is transparent front and back is provided on the picking frame 21. The upper end of the oblique shovel 26 is connected to the front end of the screening platform 7 front and back through the lower edge of the hole 27. The lower end of the oblique shovel 26 is tilted forward. A first driving pulley 24 and a first driven pulley 25 are rotatably provided on the picking frame 21 above the oblique shovel 26. The picking motor 22 is connected to the picking frame 21, and the output shaft of the picking motor 22 is connected to the first driving pulley 24. The axial directions of the first driving pulley 24 and the first driven pulley 25 are arranged left and right. The first driving pulley 24 and the first driven pulley 25 are connected through a first conveyor belt. The lower end surface of the first conveyor belt is parallel to the shoveling surface of the oblique shovel 26. The distance between the lower end surface of the first conveyor belt and the oblique shovel 26 is set according to the ball diameter of the ball object, and the lower end surface of the first conveyor belt transports from front to rear.

[0035] The warehousing device 3 includes a warehousing frame 31 and a mechanical arm assembly 4. The warehousing frame 31 is located at the rear of the chassis 1. A vertically arranged guide rail group 32 is provided on the warehousing frame 31. A second driven pulley 33 is rotatably provided at the upper end of the warehousing frame 31. A second driving pulley is rotatably provided at the lower end of the warehousing frame 31. A lifting motor is provided on the chassis 1. The lifting motor drives the second driving pulley to rotate. The second driving pulley and the second driven pulley 33 are connected by a first transmission belt. The mechanical arm assembly 4 includes a steering ring 41. The inner periphery of the steering ring 41 is provided with a driven gear structure 48. The inner periphery of the steering ring 41 is connected to the outer ring of the steering bearing. The connecting seat 45 is connected to the inner ring of the steering bearing. A steering motor 43 and a slider group 44 are provided on the connecting seat 45. The output shaft of the steering motor 43 is sleeved with a driving gear 4 2. The driving gear 42 is meshed with the driven gear tooth structure 48, the slider group 44 is slidably matched with the guide rail group 32, a connecting piece is provided at any position on the first transmission belt, the connecting seat 45 is connected to the connecting piece, one side of the steering ring 41 is connected to the grabbing frame 49, and the grabbing frame 49 is provided with two grabbing motors 47. One end of the two arc-shaped clamping arms 46 is connected to the output shafts of the two grabbing motors 47 in a one-to-one correspondence. When the picking device 2 picks up a ball object, the two arc-shaped clamping arms 46 are separated and surrounded on both sides and the rear end edge of the screening platform 7. When the two arc-shaped clamping arms 46 swing horizontally toward each other, they clamp the ball object transmitted to the screening platform 7; when the two arc-shaped clamping arms 46 swing horizontally in the same direction, the ball object on the screening platform 7 is removed, and when the two arc-shaped clamping arms 46 swing horizontally in opposite directions, the ball object is released;

[0036] A first depth camera 23 is provided at the top of the picking rack 21, and the first depth camera 23 faces the front ground. A second depth camera 36 is provided at the top of the warehousing rack 31, and the second depth camera 36 faces the rear. A screening camera 28 is provided on the rear side of the picking rack 21, and the screening camera 28 faces the screening platform 7.

[0037] The ball object is identified and located by the first depth camera 23, and then the robot moves to the target ball object, and the oblique shovel 26 faces the ball object. Relying on the friction of the first conveyor belt, the ball object is conveyed upward along the shovel surface of the oblique shovel 26, and the ball object rolls onto the identification platform 7. The identification camera 28 performs a secondary identification on the color of the ball object on the identification platform 7 to determine whether it is a ball object to be picked up. If it is not, the two arc-shaped clamping arms 46 swing horizontally in the same direction to remove the ball object on the identification platform 7 from one side of the identification platform 7. If it is yes, the two arc-shaped clamping arms 46 swing horizontally in the same direction to remove the ball object on the identification platform 7 from one side of the identification platform 7. The two arc-shaped clamping arms 46 swing horizontally toward each other to clamp the ball object, and then the lifting motor is started, driving the robot arm assembly 4 to rise through the first transmission belt, and the steering motor 43 drives the steering ring 41 to rotate through the active gear 42, so that the two arc-shaped clamping arms 46 clamp the ball object and turn to the rear. The position of the ball warehouse is identified by the second depth camera 36, ​​and the robot moves to the ball warehouse so that the ball object is suspended above the ball warehouse. The two grabbing motors 47 drive the two arc-shaped clamping arms 46 to swing horizontally in opposite directions, releasing the ball object, and causing the ball object to fall into the ball warehouse, thus completing the whole set of picking, sorting and warehousing actions for the ball object.

[0038] The design of the present invention is based on the characteristics of ball objects. The picking device 2 significantly improves the efficiency of identifying and picking up ball objects. The robotic arm assembly 4 and the identification camera 28 realize secondary identification and sorting of ball objects, significantly improving the fault tolerance rate and reducing the probability of classification errors. The warehousing device 3 can clamp the ball objects determined to be picked up and put them into the warehouse. Based on the visual recognition function, the present invention can automatically pick up, sort and put ball objects into the warehouse. It has a high degree of automation and intelligence and is suitable for application in logistics warehousing, automated factories or auxiliary sports training fields.

[0039] A first transmission gear 34 is sleeved on the output shaft of the lifting motor, and a second transmission gear 35 is sleeved on one end of the rotating shaft of the second driving pulley. The first transmission gear 34 meshes with the second transmission gear 35. The lifting motor drives the second driving pulley via the first transmission gear 34 and the second transmission gear 35, which facilitates the arrangement of the lifting motor position and the output shaft orientation, and also allows the reduction ratio to be changed, thereby adjusting the lifting speed of the steering ring 41.

[0040] Positioning holes 71 are provided on the screening platform 7 to prevent balls from rolling on the screening platform 7 .

[0041] The running wheel 11 is an AGV steering wheel. By using the AGV steering wheel as the running wheel, the movement speed and positioning accuracy of the robot in the work area can be significantly improved by relying on the navigation and positioning functions of the AGV steering wheel, and the omnidirectional movement of the robot can be achieved.

[0042] A plurality of batteries are provided on the chassis 1 , and the plurality of batteries are electrically connected to the steering gears of the plurality of running wheels 11 in a one-to-one correspondence.

[0043] The chassis 1 is provided with a code disc and several distance sensors for positioning the robot.

[0044] The pickup device 2 also includes an introduction device 6, which is provided on the left and right sides of the oblique shovel 26. The introduction device 6 includes a third driving pulley 61 and a third driven pulley 64 that are rotatably arranged. An introduction motor 65 is connected to the pickup frame 21. The output shaft of the introduction motor 65 is connected to the third driving pulley 61. The third driving pulley 61 and the third driven pulley 64 are connected by a second conveyor belt 63. The axial directions of the third driving pulley 61 and the third driven pulley 64 are vertically arranged, and the inner sides of the two second conveyor belts 63 are conveyed from front to rear. The introduction device 6 is used to guide the ball objects between the first conveyor belt and the oblique shovel 26. The ball objects enter between the two introduction devices 6 and are guided backward to the oblique shovel 26 by the friction of the second conveyor belt 63.

[0045] The introducing device 6 is provided with an introducing camera 62, which faces the front end of the oblique shovel 26. The introducing camera 62 is used to identify whether the ball object is successfully introduced into the oblique shovel 26.

[0046] The picking device 2 also includes a fence device 5, which includes a roller 56. The front part of the picking frame 21 is provided with two inner connecting ears 29 and two outer connecting ears 210. The two inner connecting ears 29 are arranged on the left and right sides of the hole 27. The two outer connecting ears 210 are located on the outside of the two inner connecting ears 29. A drum motor 51 is provided on any inner connecting ear 29. The drum motor 51 uses an aircraft model motor. One end of the drum main shaft 52 rotates with the other inner connecting ear 29. The other end of the drum main shaft 52 is connected to the output shaft of the drum motor 51. The drum main shaft 52 is arranged left and right. A pitch motor 54 is provided on any outer connecting ear 210. The pitch motor 54 uses an m-3508 motor. Machine, an articulated shaft head 58 is rotatably provided on the other external connecting ear 210, the articulated shaft head 58 is coaxial with the output shaft of the pitch motor 54, the rear ends of the two swing arms 57 are respectively connected to the articulated shaft head 58 and the output shaft of the pitch motor 54 in a one-to-one correspondence, the front ends of the two swing arms 57 are connected by a horizontal axis, and a roller 56 and a fourth driven pulley 55 are rotatably provided on the horizontal axis, and the roller 56 and the fourth driven pulley 55 are connected, and the fourth driving pulley 53 is sleeved on the rotating drum main shaft 52, and the fourth driving pulley 53 and the fourth driven pulley 55 are connected by a second transmission belt, and the rotating drum motor 51 drives the lower side of the roller 56 to rotate from front to rear through the fourth driving pulley 53 and the fourth driven pulley 55.

[0047] The rotating roller 56 can also be used to introduce ball objects. When the introduction camera 67 recognizes that no ball object is introduced, the pitch motor 54 drives the swing arm 57 to lift up so that the ball object can be introduced smoothly. When the introduction camera recognizes that a ball object is introduced, the pitch motor 54 drives the swing arm 57 to fall, and the roller 56 forms a barrier to prevent the introduced ball object from escaping and avoid malfunctions caused by the continuous introduction of ball objects. At the same time, the rotating roller 56 can assist in the transmission of ball objects along the oblique shovel 26.

[0048] The inner sides of the two second conveyor belts 63 gradually converge from front to back, so as to facilitate the collection and guidance of spherical objects.

[0049] The above embodiments are merely illustrative of the present invention and do not limit its scope of protection. Those skilled in the art may make partial changes thereto, which are within the scope of protection of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. An intelligent robot for sorting balls based on visual recognition, characterized by: It comprises a chassis (1), a picking device (2) and a warehousing device (3), wherein a plurality of running wheels (11) are provided at the bottom of the chassis (1); The picking device (2) includes a picking frame (21), the picking frame (21) is located at the front of the chassis (1), and a hole (27) is provided on the picking frame (21) that is transparent in front and back. The upper end of the inclined shovel (26) is connected to the front end of the screening platform (7) through the lower edge of the hole (27). The lower end of the inclined shovel (26) is tilted forward. A first driving pulley (24) and a first driven pulley (25) are rotatably provided on the picking frame (21) above the inclined shovel (26). The picking motor (22) is connected to the picking frame (21), the output shaft of the picking motor (22) is connected to the first driving pulley (24), the first driving pulley (24) and the first driven pulley (25) are connected through a first conveyor belt, the lower end surface of the first conveyor belt is parallel to the shovel surface of the oblique shovel (26), the distance between the lower end surface of the first conveyor belt and the oblique shovel (26) is set according to the ball diameter of the ball object, and the lower end surface of the first conveyor belt conveys from front to rear; The warehousing device (3) comprises a warehousing frame (31) and a mechanical arm assembly (4), wherein the warehousing frame (31) is located at the rear of the chassis (1), and a vertically arranged guide rail group (32) is provided on the warehousing frame (31), and a second driven pulley (33) is rotatably provided at the upper end of the warehousing frame (31), and a second driving pulley is rotatably provided at the lower end of the warehousing frame (31), and a lifting motor is provided on the chassis (1), and the lifting motor drives the second driving pulley to rotate, and the second driving pulley and the second driven pulley (33) are connected through a first transmission belt, and the mechanical arm assembly (4) comprises a steering ring (41), and a driven gear structure (48) is provided on the inner periphery of the steering ring (41), and the inner periphery of the steering ring (41) is connected to the outer ring of the steering bearing, and the connecting seat (45) is connected to the inner ring of the steering bearing, and the connecting seat (45) is provided with a steering motor (43) and a slider group (44), and the output shaft of the steering motor (43) is sleeved with a driving gear. The wheel (42) is meshed with the driven gear (42) and the driven gear structure (48). The slider group (44) and the guide rail group (32) are slidably matched. A connecting piece is set at any position on the first transmission belt. The connecting seat (45) is connected to the connecting piece. One side of the steering ring (41) is connected to the grabbing frame (49). The grabbing frame (49) is provided with two grabbing motors (47). One end of the two arc-shaped clamping arms (46) is connected to the output shafts of the two grabbing motors (47) in a one-to-one correspondence. When the picking device (2) picks up the ball object, the two arc-shaped clamping arms (46) are separated and surrounded on both sides and the rear end edge of the screening platform (7). When the two arc-shaped clamping arms (46) swing horizontally toward each other, the ball object is clamped and transmitted to the screening platform (7); when the two arc-shaped clamping arms (46) swing horizontally in the same direction, the ball object on the screening platform (7) is removed. When the two arc-shaped clamping arms (46) swing horizontally in opposite directions, the ball object is released. A first depth camera (23) is provided at the top of the picking rack (21), and the first depth camera (23) faces the front ground; a second depth camera (36) is provided at the top of the storage rack (31), and the second depth camera (36) faces the rear; a screening camera (28) is provided at the rear side of the picking rack (21), and the screening camera (28) faces the screening platform (7).

2. The ball-sorting intelligent robot based on visual recognition according to claim 1, characterized in that: A first transmission gear (34) is sleeved on the output shaft of the lifting motor, a second transmission gear (35) is sleeved on one end of the rotating shaft of the second driving pulley, and the first transmission gear (34) is meshed with the second transmission gear (35).

3. The ball-sorting intelligent robot based on visual recognition according to claim 1, characterized in that: A positioning hole (71) is provided on the screening platform (7).

4. The ball-sorting intelligent robot based on visual recognition according to claim 1, characterized in that: The running wheel (11) is an AGV steering wheel.

5. The ball-sorting intelligent robot based on visual recognition according to claim 4, characterized in that: A plurality of storage batteries are provided on the chassis (1), and the plurality of storage batteries are electrically connected to the steering gears of the plurality of running wheels (11) in a one-to-one correspondence.

6. The ball-sorting intelligent robot based on visual recognition according to claim 1, characterized in that: A code disc and a plurality of distance sensors are provided on the chassis (1) for positioning the robot.

7. The ball sorting intelligent robot based on visual recognition according to any one of claims 1 to 6, characterized in that: The picking device (2) further comprises an introduction device (6), wherein the introduction device (6) is respectively provided on the left and right sides of the oblique shovel (26), and the introduction device (6) comprises a third driving pulley (61) and a third driven pulley (64) which are rotatably arranged, an introduction motor (65) is connected to the picking frame (21), and an output shaft of the introduction motor (65) is connected to the third driving pulley (61), and the third driving pulley (61) and the third driven pulley (64) are connected via a second conveyor belt (63), and the axial directions of the third driving pulley (61) and the third driven pulley (64) are arranged vertically, and the inner sides of the two second conveyor belts (63) are conveyed from front to rear.

8. The ball-sorting intelligent robot based on visual recognition according to claim 7, characterized in that: An introduction camera (62) is provided on the introduction device (6), and the introduction camera (62) faces the front end of the oblique shovel (26).

9. The ball-sorting intelligent robot based on visual recognition according to claim 8, characterized in that: The picking device (2) further comprises a fence device (5), the fence device (5) comprises a roller (56), and the front portion of the picking frame (21) is provided with two inner connecting ears (29) and two outer connecting ears (210), the two inner connecting ears (29) are arranged on the left and right sides of the hole (27), the two outer connecting ears (210) are located on the outside of the two inner connecting ears (29), a drum motor (51) is provided on any inner connecting ear (29), one end of a drum main shaft (52) is rotatably matched with the other inner connecting ear (29), and the other end of the drum main shaft (52) is connected to the output shaft of the drum motor (51), a pitch motor (54) is provided on any outer connecting ear (210), and a hinge shaft is rotatably provided on the other outer connecting ear (210). The hinged shaft head (58) is coaxial with the output shaft of the pitch motor (54), the rear ends of the two swing arms (57) are respectively connected to the hinged shaft head (58) and the output shaft of the pitch motor (54), the front ends of the two swing arms (57) are connected through a horizontal axis, a roller (56) and a fourth driven pulley (55) are rotatably arranged on the horizontal axis, the roller (56) and the fourth driven pulley (55) are connected, a fourth driving pulley (53) is sleeved on the rotating drum main shaft (52), the fourth driving pulley (53) and the fourth driven pulley (55) are connected through a second transmission belt, and the rotating drum motor (51) drives the lower side of the roller (56) to rotate from front to back through the fourth driving pulley (53) and the fourth driven pulley (55).

10. The ball-sorting intelligent robot based on visual recognition according to claim 7, characterized in that: The inner sides of the two second conveyor belts (63) gradually converge from front to back.

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