DUAL-MODE CONTROL METHOD FOR TABLE TENNIS BALL RETRIEVER ROBOT

摘要

The present invention relates to a dual-mode control method for table tennis ball retriever robot. Working modes of the robot can be switched by means of an upper computer App. In an automatic cruise mode, the robot obtains the position information of a table tennis ball within the field of view by a vision system, and adjusts the posture according to coordinates of the ball to find an optimal collection angle. In a manual remote control mode, the upper computer App sends a motion instruction to the robot by means of Bluetooth to control the work of the robot. The robot also has an obstacle avoidance function and is able to automatically avoid obstacles in two working modes. The advantages of the present invention are as follows: switch can be performed between the two working modes, the automatic cruise and manual remote control modes, as needed; the robot is applicable in a wide range of usage scenarios due to the obstacle avoidance function; during collecting table tennis balls in the automatic cruise mode, the robot can slightly adjust its own posture according to the coordinates of the table tennis ball, and the influence of the field of view and distance on the coordinates is eliminated; and in addition, the structure of the whole algorithm is clear and rigorous, and different functions correspond to different threads, thus facilitating daily maintenance and secondary development.