Development Of Automatic Tennis Picking Robot System

With the popularity of tennis,more and more people like this sport.But tennis trainers have to bear the heavy labor of picking up balls,and there is a lack of relevant solutions in the market.This paper developed a service robot to replace the players to pick up the tennis automatically.According to the actual working conditions of tennis picking,combined with the characteristics of mobile robot development,tennis robot needs to have robust and efficient control system software,hardware and stable and reliable mechanical structure.In the aspect of tennis robot control system software,this paper analyzes the multi-task architecture based on FreeRTOS embedded real-time system.A number of tasks are designed and created based on the basic the principles of multi-task management and scheduling,system tailoring and transplantation,including: system initialization task,communication task,ultrasonic data processing task,odometer data processing task,emergency stop task,motion control task,ball receiving mechanism control task,power detection task,power management task.And the control system is optimized to have good real-time performance and stability.In the aspect of tennis robot control system hardware,based on Stm32F1 micro control unit,the relevant control circuit and the type of relevant components are designed.Hardware modules are designed and implementated,including the main control module,positioning module,motor control module,battery power detection module,communication and data acquisition module,obstacle avoidance module,power management module.And through the electronic design automation software Altium Designer(2018 version),the circuit board supporting the operation of the robot control system is designed.The design principles of electrical schematic diagram and PCB diagram are summarized.Finally,the designed circuit board is put into production,electrical test and function test to meet the use.In the mechanical structure,the tennis robot is designed and modeled by using 3D design software inventor,including differential moving platform,blade receiving mechanism and screw lifting mechanism.The whole 3D model is built and assembled,and the model of the driving motor of the actuator is selected.Finally,all the mechanical structures are put into operation and assembled.Through the test,the operation effect is good.Finally,the whole robot is tested on the actual tennis court,and the running effect of the robot is good.