Design And Research Of Intelligent Ball Picking Robot

Intelligent ball picking robot is a kind of robot with the ability to pick up and drop the ball independently.It detects the external environment through visual sensors,uses machine learning algorithm to analyze the walking route,chooses the best way to pick up the ball,and improves the accuracy of throwing the ball.This kind of robot has intelligent tracking function,can automatically pick up the ball,provide ball picking services for various ball training,so that athletes and players can concentrate on training,improve training efficiency and sports effect.The hardware structure of the intelligent ball picking robot includes one or more motors,sensors,controllers and working Spaces,which are usually controlled by vision sensors,motion controllers,and controllers to control the robot’s motion.The movement of the robot can be achieved through motion controllers and motors,as well as vision sensors;The vision sensor can detect the position of the ball and send the position information to the controller;The controller will adjust the running direction of the motor according to the position information,so that the robot can pick up the ball correctly.The software system of the intelligent ball picking robot adopts the machine learning theory,as well as the traditional PID control,fuzzy control and other technologies,which can identify,track,track,grab and pack the moving object.The system is composed of upper and lower sets.The upper computer uses C++language to develop QT interface,and uses "Bluetooth" for data transmission to realize motion control,mode selection and data display of the car.The lower machine uses C language to write the main controller program,the development of motor,Bluetooth,robot arm,camera drive,control and communication applications.The upper computer sends the instructions of operation mode and car control to the lower computer,and the lower computer uses STM32F103 as the main controller to collect the coordinates of the ball and the distance between the ball and the car through the camera.The PID algorithm is used to control the path planning of the car close to the ball,and the ball is captured and packed by the robot arm.The intelligent ball picking robot has two working modes:automatic ball picking mode and manual control ball picking mode.The experimental results show that under the control of the optimized PID algorithm,no matter the object is moving or stationary,the car can track the object more quickly and stably than the traditional PID algorithm control,and the car can keep a relatively stable state after tracking the object.