阅读说明：本技术 一种斯洛克自动集球与摆球装置及方法 (Automatic ball collecting and placing device and method for siloke ) 是由 汪泉 袁芬 胡沛 曾利磊 胡梦杰 陈晓田 于 2019-11-29 设计创作，主要内容包括：本发明公开了一种斯洛克自动集球与摆球装置及方法,利用带滚动功能的delta机器人与软体机械臂相连,在收集台球的过程中,利用软体机械手能够在台球洞口自由转弯,并通过气动控制实现调入洞口台球的抓取功能；在放球过程中,设计了旋转三角架对15个红色球进行收集与摆放。从而实现了机器人对于台球的自动收集、分类与摆放的功能集成,也在一定程度上提高了集球与摆球的效率。(The invention discloses a device and a method for automatically collecting and placing a snooker ball, wherein a delta robot with a rolling function is connected with a soft mechanical arm, and in the process of collecting the snooker ball, the soft mechanical arm can freely turn at a snout of the snooker ball and realize the function of picking the snout ball by pneumatic control; in the ball placing process, a rotary tripod is designed to collect and place 15 red balls. Therefore, the automatic collection, classification and placement functions of the billiards by the robot are integrated, and the efficiency of ball collection and ball placement is improved to a certain extent.)

1. The utility model provides an automatic collection of slaick ball and pendulum ball device which characterized in that: the device comprises a frame with a walking mechanism, a delta robot, an infrared sensor for detecting whether a hole and a ball are in contact with each other, a ball collecting frame, a triangular frame, a control module and a positioning module, wherein the delta robot, the infrared sensor, the ball collecting frame and the triangular frame are arranged on the frame;

the delta robot is connected with a soft mechanical arm for collecting balls and placing non-red balls;

the ball collecting frame is positioned below the soft mechanical arm;

the triangular frame is connected to the rack through a rotating mechanism and can be horizontally turned for 180 degrees;

the bottom of the rack is provided with a traveling device;

the control module controls the travelling mechanism, the delta robot and the soft mechanical arm to collect and place the balls and can also be used for identifying the colors of the balls;

the positioning module comprises a position coordinate device and a recognition device which are matched with each other, and the recognition device belongs to one part of the control module;

the front end of the soft mechanical arm is provided with an optical fiber, the touch sense or the deformation of the robot is detected by utilizing the change of the internal light intensity, and the curvature required by each step can be calculated by iterating the Jacobian matrix through a cascade feedback curvature control algorithm.

2. The automatic slaok ball collection and placement device of claim 1, wherein: the ball collecting frame is used for collecting red balls, and the triangular frame is used for collecting non-red balls.

3. The automatic slaick ball collection and placement method of claim 1, comprising the steps of:

providing the device of claim 1;

s1 ball picking: when the device walks according to a set route, the infrared sensor detects that a ball is nearby, the soft mechanical arm moves downwards to capture and collect the table ball, and when the device moves to the position near a ball hole, the soft mechanical arm moves downwards to capture the ball in the hole;

s2 ball collection: the device judges the color of the identified billiards through the camera, if the billiards are red balls, the billiards are placed in the triangular frame, and if the billiards are other colors, the billiards are placed in the ball collecting frame;

s3 pendulum ball: for non-red table tennis, the device finds out the positions of the table tennis needing to be placed through a preset position coordinate device, and the control module controls the software mechanical arms to be placed in sequence; for red table tennis, the device utilizes the triangle frame to continue to bring the ball motion, when finding the position that the red ball needs to be put, rotates the triangle frame, and the red ball breaks away from the ball frame, once only puts 15 red balls.

Technical Field

The invention relates to a secondary instrument of a snooker, in particular to an automatic snooker ball collecting and placing device and method.

Background

With the continuous development of economic construction in China, people deepen the essential understanding of the intellectualization of the robot technology. The robot is gradually applied to human work and life, and a service robot is produced, wherein the ball picking robot is taken as an important branch of the service robot, and has become a hot spot in the robot research field in recent years. The entertainment project of the sport and the sports of the skoke is deeply loved by ball lovers, wherein the actions of picking up and putting the ball are particularly complicated and boring. At present, the billiard robot which is put on the market is mostly a robot which can only realize the single function of placing billiards, and the functional requirements of public on efficient and rapid billiard collection and placing can not be met.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a device and a method for automatically collecting and placing balls by a Schrock.

In order to achieve the purpose, the invention provides a automatic ball collecting and placing device of a snooker, which is characterized in that: the device comprises a frame with a walking mechanism, a delta robot, an infrared sensor for detecting whether a hole and a ball are in contact with each other, a ball collecting frame, a triangular frame, a control module and a positioning module, wherein the delta robot, the infrared sensor, the ball collecting frame and the triangular frame are arranged on the frame;

the delta robot is connected with a soft mechanical arm for collecting balls and placing non-red balls;

the ball collecting frame is positioned below the soft mechanical arm;

the triangular frame is connected to the rack through a rotating mechanism and can rotate to the outside of the ball collecting frame;

the bottom of the rack is provided with a traveling device;

the control module controls the travelling mechanism, the delta robot and the soft mechanical arm to collect and place the balls and can also be used for identifying the colors of the balls;

the positioning module comprises a position coordinate device and a recognition device which are matched with each other, and the recognition device belongs to a part of the control module.

Furthermore, the front end of the soft mechanical arm is provided with an optical fiber, the touch sense or the deformation of the robot is detected by using the internal light intensity change, and the curvature required by each step can be calculated by iterating the Jacobian matrix through a cascade feedback curvature control algorithm. Then, the variable curvature of the soft body structure is pneumatically changed to precisely control the grasping, bending and releasing actions of the soft body structure.

Further, the ball collecting frame is used for collecting red balls, and the triangular frame is used for collecting non-red balls.

The invention also designs the automatic ball collecting and placing method of the above-mentioned snooker, which is characterized by comprising the following steps:

s1 ball picking: when the device walks according to a set route, the infrared sensor detects that a ball is nearby, the soft mechanical arm moves downwards to capture and collect the table ball, and when the device moves to the position near a ball hole, the soft mechanical arm moves downwards to capture the ball in the hole; the touch sense or deformation of the robot is detected by using the change of the internal light intensity, the gripping, bending and relaxing actions of the soft body structure are accurately controlled by using a cascade feedback curvature control algorithm and pneumatically changing the curvature of the soft body structure.

S2 ball collection: the device judges the color of the identified billiards through the camera, if the billiards are red balls, the billiards are placed in the triangular frame, and if the billiards are other colors, the billiards are placed in the ball collecting frame;

s3 pendulum ball: for non-red table tennis, the device finds out the positions of the table tennis needing to be placed through a preset position coordinate device, and the control module controls the software mechanical arms to be placed in sequence; for red table tennis, the device utilizes the triangle frame to continue to bring the ball motion, when finding the position that the red ball needs to be put, rotates the triangle frame, and the red ball breaks away from the ball frame, once only puts 15 red balls. The triangular frame is hollow and drags the ball to move along in the horizontal direction.

The invention has the advantages that: the delta robot with the rolling function is connected with the soft mechanical arm, and the (x, y, z) position of the delta robot is defined, so that the billiards can be quickly and accurately positioned, grabbed and collected; in the ball placing process, a set of rotary tripod is designed to collect and place 15 red balls, and the rest balls are placed by using a soft manipulator. Therefore, the novel design and combination are carried out on the functions of billiard ball collection, ball placing and the like in principle.

Drawings

Fig. 1 is a schematic view of the general structure of the present invention.

Fig. 2 is a schematic top view of the present invention.

FIG. 3 is a schematic diagram of the software structure hand of the present invention.

Fig. 4 is a sectional view a-a of fig. 3.

FIG. 5 is a diagram of the connection relationship between the delta robot arms.

FIG. 6 is a view showing the initial state of the soft manipulator picking up balls downwards.

FIG. 7 is a diagram showing a state where the soft manipulator starts to deform.

Figure 8 state diagram of the soft robot grasping the ball.

Fig. 9 is a flowchart of the rotation of the rotating triangle frame.

Fig. 10 is a graph of black ball collection effect.

Fig. 11 is a red ball collection effect graph.

FIG. 12 is a schematic view of a rotating triangle frame and a motor.

In the figure: the robot comprises a Macnahme wheel 1, a wheel shaft 2, a robot outer frame 3, an infrared sensor 4, an infrared support 5, a movable platform 6, a double-rocker mechanism 7, a rotating arm 8, a static platform 9, a pneumatic device 10, a soft manipulator 11, a motor 12, a rotating triangular frame 13, a camera 14, a rotating shaft 15, a pneumatic conduit 16, a driving system 17, a connecting piece 18, a power supply system 19, a coupler 20, a sealing ring 21, a rolling bearing 23, a sleeve 25 and shaft end check rings 24 and 26.

Detailed Description

The invention is described in further detail below with reference to the following figures and specific examples:

the invention will be described in more detail below with reference to the accompanying drawings, which form a part hereof: the robot comprises a Macnahme wheel 1, a wheel shaft 2, a robot outer frame 3, an infrared sensor 4, an infrared support 5, a movable platform 6, a double-rocker mechanism 7, a rotating arm 8, a static platform 9, a pneumatic device 10, a soft manipulator 11, a motor 12, a rotating triangular frame 13, a camera 14 and a rotating shaft 15.

The invention relates to a automatic ball collecting and placing device of a Schluker, which is a device capable of not only finishing ball identification and collection, but also realizing the fixed-point ball placing function. The overall mechanism is shown in figures 1 and 2. The device comprises a frame with a walking mechanism, a delta robot, an infrared sensor for detecting whether a ball is on a table top or in a ball hole, a ball collecting frame, a triangular frame, a control module and a positioning module, wherein the delta robot, the infrared sensor, the ball collecting frame and the triangular frame are arranged on the frame;

the delta robot is connected with a soft mechanical arm for collecting balls and placing non-red balls;

the ball collecting frame is positioned below the soft mechanical arm;

the triangular frame is connected to the rack through a rotating mechanism and can rotate to the upper part of the soft mechanical arm;

the bottom of the frame is provided with a walking device;

the control module controls the travelling mechanism, the delta robot and the soft mechanical arm to collect and place the balls and can also be used for identifying the colors of the balls;

the positioning module comprises a position coordinate device and a recognition device which are matched with each other, and the recognition device belongs to a part of the control module. The position coordinate device is arranged on the table and used for positioning the position of the ball when the device swings the ball. The invention is realized by adopting a displacement sensor and an infrared sensor.

The working principle of the automatic ball collecting and placing device of the snooker ball is as follows, the delta robot is connected with the soft mechanical arm 11, the (x, y, z) position definition is carried out on the delta robot, the delta robot can move through the movement of the motor, and then the movement of the lower end soft mechanical arm is driven. The soft body structure can be continuously deformed, infinite freedom degree can be realized in principle, and the billiard ball gripping device has good safety and flexibility, and the characteristics are just fit with the conditions required by billiard ball gripping. In the ball collecting process, when the gray sensor identifies that the ball reaches the position near the ball hole, the triangular frame 13 rotates 180 degrees, the pneumatic soft hand moves downwards to reach the hole, the pneumatic soft hand deforms through pneumatic control, the ball 28 is picked up on the wire netting 27 and then returns, and if the color of the ball is red, the pneumatic soft hand puts the ball into the triangular frame; if the camera 14 judges that the ball is in other colors, the ball is placed in a lower end frame of the robot, and after all the balls are collected, the robot finds out the preset point pairs through the sensor 4 to place the balls in various colors for the start of the Stokes game. In the ball placing process, the triangular frame 13 is rotated to collect and place 15 red balls, and the rest balls are placed by a soft manipulator. The ball placing process takes red balls as an example, when corresponding points are found, the triangular frame of the robot rotates 180 degrees, and at the moment, the robot can put down the balls to leave, and the balls with other colors are placed.

The invention adopts the rotary triangular frame to collect and place 15 red balls without repeatedly picking up the balls, and the rotary triangular frame is directly connected with the motor, so that the speed is higher, thereby improving the efficiency of collecting and placing the balls. Reference may be made to 3D printing techniques. The desktop position is defined in the ball placing process, the (x, y, z) ball hole position is defined in the delta robot pair, the requirement for quickly and accurately positioning and grabbing and collecting balls can be met, the deformation of the soft mechanical arm can grab the balls in the ball holes, the colors of the balls can be recognized through the camera in the ball placing process, and the balls are placed in sequence, so that the function integration of the robot for automatically collecting, classifying and placing billiards is achieved. The color identification adopts a time gray sensor.

The grabbing and placing mechanism is shown in figure 4, a delta robot is the prior art, the technology is mature, the delta robot is widely applied to equipment such as a 3D printer and the like in China, and the delta robot has the characteristics of high speed, compact structure and the like. And the actual process is the reverse of this process. The connection relationship between the delta robot mechanical arms is shown in fig. 5, the mechanical arms are connected to the rack through a rotating mechanism, and the rotating mechanism realizes the up-and-down movement of the soft mechanical arm connected with the mechanical arms through a control module. The state diagram of the device for grabbing the table ball is shown in fig. 6, the state diagram of the device for grabbing the ball in the hole is shown in fig. 7 and 8, and the state diagram of collecting the red ball is shown in fig. 8. The engineering drawing of the transmission structure between the rotating triangular frame and the generator is shown in figure 12.

The structure schematic diagram of the pneumatic device and the soft mechanical arm is shown in fig. 4, the device is a pneumatic soft structure, the soft part 11 is made of super elastic silica gel material, so that the soft part can extend and contract and is driven by variable pressure based on fluid, and the pneumatic device comprises a pneumatic conduit 16, a driving system 17, a connecting piece 18 and a power supply system 19. The driving mode of the product selection is pneumatic, on one hand, the pneumatic medium is light in weight and wide in source, on the other hand, the pneumatic medium does not pollute the environment and does not generate industrial wastewater. An integrated driving system powered by a battery is selected. The electric push rod is used to directly drive the cylinder, and the soft grasping part responds quickly to grasp the ball. The front part of the soft body structure is provided with optical fibers, the touch sense or the deformation of the robot is detected by utilizing the change of the internal light intensity, the curvature required by each step can be calculated by iterating the Jacobian matrix through a cascade feedback curvature control algorithm, and the gripping, bending and releasing actions of the soft body structure can be accurately controlled by utilizing the pneumatic change of the variable curvature of the soft body structure. The delta robot is connected with the soft mechanical arm to define the position (x, y, z) of the delta robot, and the delta robot can move through the movement of the motor, so that the movement of the lower end soft mechanical arm is driven.

The detailed description of the specific function implementation is as follows:

1. and (6) picking up balls. When an infrared sensor on the device detects that a ball is nearby, the motor drives the delta robot to move, and finally the soft mechanical arm moves downwards to complete the grabbing of the table ball, wherein the structure of the delta robot is shown in figure 6, and the work adopts the pneumatic control soft mechanical arm to grab the ball in the ball hole. When the robot moves to the vicinity of the hole, the parallel mechanical arm rotates to drive the soft mechanical arm to move downwards, as shown in fig. 7. When the soft manipulator reaches the bottom of the ball frame, the soft manipulator controlled by the pneumatic control generates elastic deformation to grab the billiards 28, as shown in figures 7 and 8.

2. Collecting the balls. When the robot picks up the ball, the ball is identified, when the ball is found to be red, the rotating tripod rotates 180 degrees, as shown in figure 9, the red ball is put into the tripod, when the robot picks up the ball, the ball is identified to be other colors, the ball is put into a frame below the robot, the non-red ball collecting effect is shown in figure 10, and the red ball collecting effect is shown in figure 11.

3. And (5) placing the ball. The robot finds out the positions of balls (other than red balls) to be placed through preset coordinates, and the soft mechanical arms are sequentially placed; the robot utilizes the triangle frame to continue the motion of dribbling, and when finding the position that the red ball needs to be put, the triangle frame is rotatory 180 degrees, and the red ball breaks away from the ball frame, once only puts 15 red balls.

Fig. 12 shows an engineering drawing of a connection relationship between the rotary triangular frame 13 and the motor. The main parts are as follows: the motor 12, the rotating triangular frame 13, the rotating shaft 15, the coupling 20, the sealing ring 21, the rolling bearing 23, the sleeve 25 and the shaft end retaining rings 24 and 26. The motor drives the rotating ring 15 to move, so that the rotating triangular frame is turned over, and the ball collecting and swinging device is used during ball collection and ball swinging.

The above is a preferred embodiment of the present invention, and those skilled in the art to which the present invention pertains can make variations and modifications to the above embodiment. Therefore, the present invention is not limited to the above-mentioned embodiments, and all the modifications, substitutions and variations which are obvious to those skilled in the art based on the present invention are within the protection scope of the present invention.