多功能捡球机器人的研制  

The Development of Multifunctional Robot for Picking up Balls

作　　者：赵艺兵[1] 杨泳雪[2] 

机构地区：[1]南京工程学院工业中心,南京211167 [2]南京工程学院自动化学院,南京211167

出　　处：《组合机床与自动化加工技术》2015年第9期129-131,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：江苏省自然科学基金项目(BK2010479);南京工程学院高等教育研究课题(GY201320);南京工程学院科技创新基金项目(N20141715)

摘　　要：文章介绍了一种基于无线技术的多功能捡球机器人,包含机械结构、遥控电路和障碍检测电路等硬件设计及软件开发。机械结构能够实现捡起直径介于38mm与65mm之间球体;遥控电路基于CMOS大规模集成电路TX-2/RX-2设计,通过手持遥控设备来控制机器人的运动路径;障碍检测电路采用红外传感模块控制机器人自动进行避障检测,对场地目标进行搜寻,并通过机器人来完成捡球动作。该捡球机器人能够捡起高尔夫球、乒乓球、网球等直径介于38mm与65mm之间多种球体,不仅具有手动、遥控及自动搜寻三种捡球模式,而且成本低,可靠性高。通过实物模型的性能测试表明,该捡球机器人捡球效果良好,便于推广应用。In this paper a multifunctional robot for picking up balls based on wireless technology is de-scribed. It includes the hardware design such as mechanical structure, remote control circuit and obstacle a-voidance circuit as well as the software development. Mechanical structure can achieve to pick the balls which diameters are between 38mm and 65mm;Remote control circuit is designed based on CMOS LSI TX-2/RX-2 and the running path is controlled by hand remote control;Obstacle detection circuit is designed by using the infrared sensor module to control the robot to detect obstacles automatically, search for target sites and pick up balls by the robot. The robot can pick up several balls such as golf, table tennis and tennis. It not only has three picking up balls methods such as hand control,remote control and automatic search, but also has low cost and high reliability. The performance testing on the practical model of the robot shows that the ball picking robot works well and it is easy to popularize and apply.

关 键 词：捡球机器人 机械结构 遥控电路 障碍检测电路 

分 类 号：TH122[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]