Tennis ball picking obstacle avoidance robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a tennis ball picking and obstacle avoiding robot which comprises a chassis frame, omni-directional wheels used for advancing are installed on the side face of the chassis frame, and an ultrasonic sensor used for recognizing obstacles is installed on the chassis frame. The two sets of spoon-shaped clamping jaws are symmetrically arranged and provided with grabbing mechanisms to drive the spoon-shaped clamping jaws to rotate in a crossed mode so as to grab a ball, auxiliary jaws are fixedly installed on the spoon-shaped clamping jaws, and a visual camera used for obtaining position information of an obstacle and the ball is arranged on one side of each spoon-shaped clamping jaw. The spoon-shaped clamping jaw is installed on the chassis frame through a lifting rotating mechanism. The collecting box is installed on the top face of the chassis frame and used for bearing the balls picked up by the spoon-shaped clamping jaws. The tennis ball picking device can accurately recognize the position of a tennis ball and accurately avoid obstacles to pick up the tennis ball, convenience is provided for tennis sports of sportsmen, meanwhile, the tennis ball picking efficiency is improved, and the tennis ball is recycled more rapidly and is convenient to reuse.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a tennis ball picking and obstacle avoidance robot. Background Technology

[0002] With social progress and technological development, sports are constantly innovating and evolving. On the one hand, new sports and fitness methods are emerging, such as e-sports and smart fitness; on the other hand, traditional sports are continuously being improved and perfected to adapt to the needs of modern society. Various sports are becoming increasingly well-known and gradually integrated into daily life. Tennis is a prime example. Tennis can improve physical fitness, coordination, and flexibility, and currently, more and more people are participating in tennis.

[0003] In tennis, retrieving tennis balls typically requires manual labor, especially on training courts or large tennis tournament venues where the balls are widely distributed and numerous, making manual retrieval a significant drain on manpower and time. Furthermore, the retrieval process may encounter various obstacles on the court, such as net posts, boundary fences, and benches, easily causing collisions that damage equipment or affect retrieval efficiency. While some cleaning or transport robots exist, robots specifically designed for tennis ball retrieval with good obstacle avoidance capabilities are not yet widespread, and existing robots have shortcomings in tennis ball recognition accuracy and obstacle avoidance flexibility. Utility Model Content

[0004] The purpose of this invention is to provide a tennis ball retrieval and obstacle avoidance robot that can accurately identify the location of the tennis ball and accurately avoid obstacles to retrieve it, thus providing convenience for athletes playing tennis, improving tennis ball retrieval efficiency, and more quickly recycling the tennis ball for easy reuse.

[0005] The specific technical solution adopted by this utility model is as follows:

[0006] A tennis ball retrieval and obstacle avoidance robot includes:

[0007] A chassis frame with omnidirectional wheels mounted on its sides for travel, and an ultrasonic sensor for identifying obstacles mounted on the chassis frame;

[0008] Two sets of spoon-shaped grippers are symmetrically arranged and equipped with a gripping mechanism to drive them to rotate in a cross manner to grip the ball. An auxiliary gripper is fixedly installed on the spoon-shaped gripper. A visual camera for acquiring obstacle and ball position information is provided on one side of the spoon-shaped gripper. The spoon-shaped gripper is mounted on the chassis frame through a lifting and rotating mechanism.

[0009] A collection box, which is installed on the top surface of the chassis frame, is used to receive the sphere picked up by the spoon-shaped gripper.

[0010] As a preferred embodiment, a first geared motor is fixedly installed inside the chassis frame, and the power output end of the first geared motor is connected to the omnidirectional wheel via a coupling to drive the omnidirectional wheel to rotate.

[0011] As a preferred embodiment, the gripping mechanism includes a first servo motor and a gear fixedly mounted on the spoon-shaped gripper away from the gripping end. Two sets of gears mesh with each other, one of which is fixedly connected to the power output end of the first servo motor, and the other is rotatably connected to the first servo motor.

[0012] As a preferred embodiment, the auxiliary claw is crescent-shaped and symmetrically mounted on the upper and lower sides of the spoon-shaped gripper to form a hemispherical shape. The spoon-shaped gripper and the auxiliary claw are equipped with miniature pressure sensors.

[0013] As a preferred embodiment, the lifting and rotating mechanism includes a first support fixedly installed on one side of the chassis frame, a track bracket rotatably connected to the first support, and a slide block vertically slidably connected to the track bracket. A second servo motor is fixedly installed inside the first support. The power output end of the second servo motor is connected to the bottom of the track bracket via a coupling. A stepper motor is fixedly installed at the bottom of the track bracket. A pulley assembly is provided between the power output end of the stepper motor and the top of the track bracket. The slide block is fixedly connected to a belt to drive it to move vertically up and down along the track bracket. The first servo motor is fixedly installed on the slide block.

[0014] As a preferred embodiment, a second support is fixedly installed on the top surface of the chassis frame on the side away from the spoon-shaped gripper, the collection box is rotatably installed on the second support, a third servo motor is fixedly installed inside the second support, and the power output end of the third servo motor is connected to the bottom of the collection box via a coupling.

[0015] As a preferred embodiment, the system also includes a solar panel module and a battery installed within the chassis frame, with the two connected by wires to charge the battery via the solar panel module. The solar panel module is mounted on the side wing of the chassis frame via an angle adjustment mechanism.

[0016] As a preferred embodiment, the angle adjustment mechanism includes a fixed support arm fixedly mounted on the chassis frame and a movable support arm fixedly mounted on the bottom surface of the solar panel module. A second geared motor is fixedly mounted at the top of the fixed support arm. A first connecting rod and a second connecting rod are provided between the fixed support arm and the movable support arm, which intersect each other. One end of the first connecting rod is fixedly connected to the power output end of the second geared motor, and the other end is rotatably connected to the bottom end of the movable support arm. One end of the second connecting rod is rotatably connected to the bottom end of the fixed support arm, and the other end is rotatably connected to a first short rod. The first short rod is parallel to the first connecting rod and rotatably connected to the movable support arm. A second short rod is rotatably connected to the middle of the first connecting rod, and the end of the second short rod away from the first connecting rod is coaxially rotatably connected to the first short rod and the second connecting rod.

[0017] The technical effects achieved by this utility model are as follows:

[0018] This invention uses an ultrasonic sensor, an infrared sensor, and a first servo motor to form an obstacle avoidance system. This system can identify the position of obstacles and the ball from all directions, and then plan the shortest route to pick up the ball, improving the ball retrieval efficiency, providing convenience for tennis players, and facilitating the recycling of the ball.

[0019] This invention uses a spoon-shaped gripper, an auxiliary gripper, and a first servo motor to form a picking system. The spoon-shaped gripper and the auxiliary gripper are combined to form a spherical shape, which can more stably grasp the ball and prevent it from falling during movement. At the same time, the first servo motor, in conjunction with a miniature pressure sensor, can control the gripping force to avoid damaging the ball during gripping, making it safer and more reliable.

[0020] This invention, by setting up a solar panel module in conjunction with an angle adjustment mechanism, enables the control system to adjust the viewing angle of the solar panel module according to the intensity of the sunlight signal through the angle adjustment mechanism. This ensures that the module always receives a higher level of sunlight signal, improves power generation efficiency, and can replenish power in a timely manner to ensure the normal operation of the robot. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present utility model;

[0022] Figure 2 This is an exploded view of an embodiment of the present utility model;

[0023] Figure 3 This is a schematic diagram of the chassis frame structure in an embodiment of this utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the spoon-shaped gripper and related components in an embodiment of this utility model;

[0025] Figure 5 This is a schematic diagram of the other side of the spoon-shaped gripper and related components in an embodiment of this utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the collection box and related components in an embodiment of this utility model;

[0027] Figure 7 This is a schematic diagram of the structure of the solar panel and related components in an embodiment of this utility model.

[0028] The attached diagram lists the components represented by each number as follows:

[0029] 1. Chassis frame;

[0030] 11. First support; 12. Second support; 13. First geared motor; 14. Omnidirectional wheel; 15. Ultrasonic sensor; 16. Infrared sensor;

[0031] 2. Spoon-shaped grippers;

[0032] 21. Auxiliary claw; 22. First servo motor; 23. Vision camera; 24. Rail support; 25. Slide; 26. Stepper motor; 27. Second servo motor; 28. Electronic limit switch;

[0033] 3. Collection box;

[0034] 31. Third servo motor;

[0035] 4. Solar panel module;

[0036] 41. Fixed support arm; 42. Movable support arm; 43. Second geared motor; 44. First connecting rod; 45. Second connecting rod; 46. First short rod; 47. Second short rod. Detailed Implementation

[0037] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0038] like Figures 1-7 As shown, a tennis ball retrieval and obstacle avoidance robot includes a chassis frame 1 and a traveling system, an obstacle avoidance system, a retrieval system, a collection system, a control system, and a power supply system mounted on the chassis frame 1. The obstacle avoidance system identifies the position of the ball and obstacles, while the control system plans the route and drives the robot forward through the traveling system. The retrieval system picks up the tennis ball and places it in the collection system, while the power supply system continuously supplies power to the robot using solar energy.

[0039] The control system utilizes a high-performance microprocessor as its core controller, a Raspberry Pi, which possesses powerful data processing and multitasking capabilities. The control system receives sensor signals from the pickup system, obstacle avoidance system, and image data, performing real-time analysis and processing. Simultaneously, the control system also features a wireless communication module, enabling communication with an external remote controller or host computer to achieve remote control and data transmission functions, such as remotely setting the robot's working mode, viewing the robot's working status, and checking the number of tennis balls stored.

[0040] See attached document Figures 1-2 by Figure 6 A second support 12 is fixedly installed on the top surface of one side of the chassis frame 1. The collection box 3 is rotatably installed on the second support 12. At the same time, a third servo motor 31 is fixedly installed inside the second support 12. The power output end of the third servo motor 31 is connected to the bottom of the collection box 3 through a coupling. The collection box 3 can receive tennis balls picked up by the pickup system. When too many tennis balls are piled up on one side, the third servo motor 31 drives the collection box 3 to rotate and collect the tennis balls to the other side so as to collect more tennis balls.

[0041] See attached document Figures 1-3 The chassis frame 1 has four fixedly installed first geared motors 13 at the four corners. The power output end of the first geared motors 13 is connected to the omnidirectional wheels 14 through a coupling to drive the omnidirectional wheels 14 to rotate and provide forward power, which constitutes the travel system of this embodiment. The control system controls the four sets of first geared motors 13 according to the preset program and algorithm to realize forward, backward and turning actions, and adjusts the robot's travel path and speed according to obstacle avoidance information.

[0042] Furthermore, in this embodiment, the chassis frame 1 is made of a sturdy and lightweight aluminum alloy frame with a cube-shaped shape, and the omnidirectional wheels 14 are also made of aluminum alloy to ensure stable driving under different surface conditions on the tennis court.

[0043] Of course, in other embodiments, the travel system may also be selected with tracked drive wheels, depending on the specific site requirements.

[0044] See attached document Figures 1-5A first support 11 is fixedly installed on the side of the chassis frame 1 away from the second support 12, and a track bracket 24 is rotatably connected to the first support 11. A slide block 25 is vertically slidably connected to the track bracket 24, and a first servo motor 22 is installed inside it. A set of meshing gears is rotatably installed on the power output end side of the first servo motor 22, one of which is fixedly connected to the power output end of the first servo motor 22. Two sets of symmetrical spoon-shaped grippers 2 are fixedly installed on the two sets of gears. The first servo motor 22 drives the two sets of spoon-shaped grippers 2 to close like scissors through the meshing gears to grab tennis balls. At the same time, it can vertically rise and fall relative to the chassis frame 1 along the track bracket 24 and rotate relative to the first support 11 to change its height and circumferential position, so as to pick up tennis balls in different areas.

[0045] Furthermore, to drive the spoon-shaped gripper 2 to move vertically and rotate circumferentially, a second servo motor 27 is fixedly installed inside the first support 11. The power output end of the second servo motor 27 is connected to the bottom of the track support 24 via a coupling, thereby driving the track support 24 and the spoon-shaped gripper 2 to rotate circumferentially as a whole. A stepper motor 26 is fixedly installed at the bottom of the track support 24, and a pulley set is provided between the power output end of the stepper motor 26 and the top of the track support 24. After the slide 25 is fixedly connected to the belt, the stepper motor 26 can drive the belt to make vertical displacement, thereby driving the slide 25 and the spoon-shaped gripper 2 installed on it to move vertically up and down along the track support 24. At the same time, an electronic limiter 28 is installed on the track support 24. After the spoon-shaped gripper 2 moves to the highest position, the electronic limiter 28 can feed back a control signal to the control system to stop the stepper motor 26.

[0046] Furthermore, an auxiliary claw 21 is fixedly installed on the spoon-shaped gripper 2. The auxiliary claw 21 is crescent-shaped and symmetrically installed on the upper and lower sides of the spoon-shaped gripper 2 to form a hemispherical shape, so as to more stably grasp the ball and prevent it from falling off during movement. The spoon-shaped gripper 2 and the auxiliary claw 21 are made of hard rubber material, which has a certain degree of flexibility and elasticity. The spoon-shaped gripper 2 and the auxiliary claw 21 are equipped with a miniature pressure sensor (not shown in the figure). The miniature pressure sensor feeds back the clamping pressure to the control system to control the first servo motor 22, which can control the clamping force and avoid damage to the ball during clamping, making it safer and more reliable.

[0047] According to the above structure, when the spoon-shaped gripper 2 and the auxiliary gripper 21 come into contact with the tennis ball, the micro pressure sensor receives a threshold pressure trigger signal. The control system can control the stepper motor 26 and the second servo motor 27 to realize the lifting, rotation and tennis ball transfer of the spoon-shaped gripper 2 and the auxiliary gripper 21 according to the preset program and algorithm, and place it in the collection box 3, and then repeat to pick up the next tennis ball.

[0048] See attached document Figures 1-5The chassis frame 1 has ultrasonic sensors 15 installed on three sides (excluding the spoon-shaped gripper 2) for obstacle identification. An ultrasonic sensor 15 is also installed on the top of the stepper motor 26. This means that ultrasonic sensors 15 are installed on all four sides of the chassis frame 1, so that the robot's detection range is in front [angle range 1], behind [angle range 2], and left and right sides [angle range 3]. It can detect the distance of surrounding obstacles in real time. When the distance of the detected obstacle is less than the safety threshold [distance value 1], it sends a warning signal to the control system and controls the robot to move to avoid obstacles.

[0049] Furthermore, an infrared sensor 16 is installed on the side of the chassis frame 1 near the tires to detect small obstacles such as depressions or bumps on the ground. Its detection accuracy is [accuracy value]. When an abnormality is detected, the driving path and speed of the omnidirectional wheel 14 are adjusted in time to avoid bumps or collisions.

[0050] Furthermore, a visual camera 23 is mounted perpendicularly to the spoon-shaped gripper 2 on the slide 25 to acquire information about obstacles and the position of the balls. This allows the camera to move synchronously with the spoon-shaped gripper 2 to obtain accurate position information of the tennis balls and record the number of balls placed. It features [resolution] and [field of view], and uses image recognition algorithms to identify various common obstacles on the tennis court, such as net posts, fences, and benches, transmitting the recognition results to the control system. Based on the information from the sensors and camera, the control system comprehensively plans the robot's route, bypassing obstacles to reach the tennis ball distribution area for pickup.

[0051] Based on the above structure, the ultrasonic sensor 15, the infrared sensor 16, and the vision camera 23 constitute the obstacle avoidance system in this embodiment. The control system can receive signals from the miniature pressure sensor in the pickup system, the ultrasonic sensor 15 in the obstacle avoidance system, the infrared sensor 16, and the image data from the vision camera 23, and perform real-time analysis and processing to transmit control information to each component.

[0052] See attached document Figures 1-2 by Figure 7 In this embodiment, solar panel modules 4 are also installed on the left and right sides of the chassis frame 1, and a battery (not shown in the figure) electrically connected to the energy storage solar panel modules 4 is installed inside the chassis frame 1 so as to charge the battery through the solar panel modules 4.

[0053] To improve solar charging efficiency, a fixed support arm 41 is fixedly installed on the chassis frame 1, and a movable support arm 42 is fixedly installed on the bottom surface of the solar panel module 4. A second geared motor 43 is fixedly installed at the top of the fixed support arm 41. A first connecting rod 44 and a second connecting rod 45 are provided between the fixed support arm 41 and the movable support arm 42, and one end of the first connecting rod 44 is fixedly connected to the power output end of the second geared motor 43, while the other end is rotatably connected to the bottom end of the movable support arm 42. At the same time, one end of the second connecting rod 45 is rotatably connected to the bottom end of the fixed support arm 41, and the other end is rotatably connected to a first short rod 46. The first short rod 46 is parallel to the first connecting rod 44 and rotatably connected to the movable support arm 42. A second short rod 47 is rotatably connected to the middle of the first link 44, and the end of the second short rod 47 away from the first link 44 is coaxially rotatably connected to the first short rod 46 and the second link 45. In this way, the control system records the light signal intensity at certain intervals. If it is determined that the light signal weakens, the control generates an electrical signal to control the second reduction motor 43 to run, which drives the first link 44 to rotate. Then, through the cross transmission of the second link 45, the first short rod 46 and the second short rod 47, the solar panel module 4 is pushed to a certain angle, so that the position of the solar panel module 4 is adjusted until the light signal becomes stronger. This process ensures the charging efficiency of the solar panel, so that the power can be replenished in time and the normal operation of the robot can be guaranteed.

[0054] Of course, in other embodiments, only a rechargeable battery can be provided, which can be charged when needed, without the solar panel module 4. The choice can be made according to specific needs.

[0055] The working principle of this utility model is as follows: When in use, the robot is powered by the solar panel module 4 and the battery. At the same time, the ultrasonic sensor 15, the infrared sensor 16 and the vision camera 23 transmit obstacle and tennis ball position information to the control system. The robot plans its driving route and controls the first reduction motor 13 to drive the omnidirectional wheel 14 to bypass the obstacles and reach the tennis ball distribution area. The stepper motor 26 and the second servo motor 27 control the spoon-shaped gripper 2 and the auxiliary gripper 21 to grasp the ball. Then, the robot controls its lifting, rotation and tennis ball transmission, and places the tennis ball in the collection box 3. Then, the robot picks up the next tennis ball.

[0056] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A tennis ball picking and obstacle avoiding robot, characterized in that, It includes: The chassis frame (1) is provided with omnidirectional wheels (14) for traveling on the side, ultrasonic sensors (15) and infrared sensors (16) are installed on the chassis frame (1) for identifying obstacles; The scoop-shaped clamping jaw (2) is provided with two groups of symmetrical structures, and is provided with a grabbing mechanism to drive it to cross and rotate to grab the ball. The auxiliary claw (21) is fixedly installed on the scoop-shaped clamping jaw (2). The scoop-shaped clamping jaw (2) is provided with a visual camera (23) on one side for obtaining obstacle and ball position information. The scoop-shaped clamping jaw (2) is installed on the chassis frame (1) through a lifting and rotating mechanism. The collecting box (3) is installed on the top surface of the chassis frame (1) for receiving the balls picked up by the scoop-shaped clamping jaw (2).

2. The tennis ball picking and obstacle avoiding robot according to claim 1, characterized in that: The first reduction motor (13) is fixedly installed in the chassis frame (1). The power output end of the first reduction motor (13) is connected with the omnidirectional wheel (14) through a shaft coupling to drive the omnidirectional wheel (14) to rotate.

3. The tennis ball picking and obstacle avoiding robot according to claim 1, characterized in that: The grabbing mechanism includes a first steering engine (22) and a gear fixedly installed on the scoop-shaped clamping jaw (2) away from the grabbing end. Two gears are engaged with each other. One is fixedly connected with the power output end of the first steering engine (22), and the other is rotatably connected with the first steering engine (22).

4. The tennis ball picking and obstacle avoiding robot according to claim 1, characterized in that: The auxiliary claw (21) is crescent-shaped and symmetrically installed on the upper and lower sides of the scoop-shaped clamping jaw (2) to form a half-spherical shape in combination with the scoop-shaped clamping jaw (2). The scoop-shaped clamping jaw (2) and the auxiliary claw (21) are provided with a micro pressure sensor.

5. The tennis ball picking and obstacle avoiding robot according to claim 3, characterized in that: The lifting and rotating mechanism includes a first support (11) fixedly installed on one side of the chassis frame (1), a track bracket (24) rotatably connected with the first support (11), and a sliding seat (25) vertically and slidably connected with the track bracket (24). The second steering engine (27) is fixedly installed in the first support (11). The power output end of the second steering engine (27) is connected with the bottom of the track bracket (24) through a shaft coupling. The step motor (26) is fixedly installed on the bottom of the track bracket (24). A belt pulley set is arranged between the power output end of the step motor (26) and the top of the track bracket (24). The sliding seat (25) is fixedly connected with the belt to drive it to vertically move along the track bracket (24). The first steering engine (22) is fixedly installed on the sliding seat (25).

6. The tennis ball picking and obstacle avoiding robot according to claim 1, wherein: The second support (12) is fixedly installed on the top surface of the chassis frame (1) away from the scoop-shaped clamping jaw (2). The collecting box (3) is rotatably installed on the second support (12). The third steering engine (31) is fixedly installed in the second support (12), and the power output end of the third steering engine (31) is connected with the bottom of the collecting box (3) through a shaft coupling.

7. The tennis ball picking and obstacle avoiding robot according to claim 1, wherein: It also includes a solar panel module (4) and a storage battery installed in the chassis frame (1). They are connected by wires to charge the storage battery through the solar panel module (4). The solar panel module (4) is installed on the side wing of the chassis frame (1) through an angle adjusting mechanism.

8. The tennis ball picking and obstacle avoiding robot according to claim 7, characterized in that: The angle adjusting mechanism comprises a fixed branch arm (41) fixedly installed on the chassis frame (1) and a movable branch arm (42) fixedly installed on the bottom surface of the solar panel module (4), a second speed reduction motor (43) is fixedly installed at the top end of the fixed branch arm (41), a first connecting rod (44) and a second connecting rod (45) are arranged between the fixed branch arm (41) and the movable branch arm (42) and cross each other, one end of the first connecting rod (44) is fixedly connected with the power output end of the second speed reduction motor (43), the other end is rotatably connected with the bottom end of the movable branch arm (42), one end of the second connecting rod (45) is rotatably connected with the bottom end of the fixed branch arm (41), the other end is rotatably connected with a first short rod (46), the first short rod (46) is parallel to the first connecting rod (44) and is rotatably connected with the movable branch arm (42), a second short rod (47) is rotatably connected with the middle part of the first connecting rod (44), and one end of the second short rod (47) away from the first connecting rod (44) is coaxially rotatably connected with the first short rod (46) and the second connecting rod (45).

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