CN108398952A - Robot localization method and robot - Google Patents
Robot localization method and robot Download PDFInfo
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- CN108398952A CN108398952A CN201810239372.8A CN201810239372A CN108398952A CN 108398952 A CN108398952 A CN 108398952A CN 201810239372 A CN201810239372 A CN 201810239372A CN 108398952 A CN108398952 A CN 108398952A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000004807 localization Effects 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 159
- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims description 29
- 210000003746 feather Anatomy 0.000 claims description 2
- 238000013459 approach Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot fields, in particular to a kind of robot localization method and robot.This method obtains the motion track information of aerial shuttlecock by track securing component, and by motion track information to communication part, motion track information is sent to control assembly by communication part；The drop point of shuttlecock is predicted according to motion track information by control assembly, robot chassis is controlled in intended site to the drop point position range motion of shuttlecock according to the drop point of shuttlecock, mobile Stop message is sent to shuttlecock posture securing component, shuttlecock posture securing component obtains the posture information of shuttlecock, and the posture information of shuttlecock is sent to control assembly.Finally, racket control assembly is controlled according to the posture information of shuttlecock by control assembly to be moved on robot chassis to which realization receives or serves a ball.This method enables to robot to play badminton accurately, being capable of approach shot.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of robot localization method and robot.
Background technology
In shuttlecock training process, shuttlecock fan needs to carry out a large amount of batting training to improve the success of return of serve
Rate.This just needs special coach or ladder player come practice of completing to receive, but asks coach and ladder player expensive,
And it is restricted by the time.With advances in technology with the development of artificial intelligence, being used as the training mate of movement using robot is become
A kind of trend.There is a small number of shuttlecock robots currently on the market, still, they have inaccurate deficiency of playing ball, especially
It is the deficiency for being unable to approach shot.
Invention content
The purpose of the present invention is to provide a kind of robot localization method and robots, aim to solve the problem that and deposit in the prior art
The above problem.
An embodiment of the present invention provides a kind of robot localization methods, are applied to robot, the robot includes removable
Dynamic robot chassis is installed on the track securing component on the robot chassis, racket control assembly, shuttlecock posture and obtains
Component, communication part and control assembly, the robot localization method include：
Track securing component obtains the motion track information of aerial shuttlecock, and the motion track information is sent to communication
Component；The motion track information is sent to control assembly by communication part；Control assembly is pre- according to the motion track information
The drop point for surveying the shuttlecock controls the robot chassis in intended site to the plumage according to the drop point of the shuttlecock
The drop point position range motion of ball top, in the drop point position range of the robot bobbin movement to the shuttlecock
And when stop motion, mobile Stop message is sent to shuttlecock posture securing component；When shuttlecock posture securing component receives
When the mobile Stop message, shuttlecock posture securing component obtains the posture information of shuttlecock, by the posture of the shuttlecock
Information is sent to control assembly；Control assembly controls the racket control assembly described according to the posture information of the shuttlecock
Movement receives or serves a ball to realize on robot chassis.
As further, the control assembly includes processor and controller, and the processor connects with the controller
It connects；
Control assembly predicts the drop point of the shuttlecock according to the motion track information, according to the drop point of the shuttlecock
The robot chassis is controlled in intended site to the drop point position range motion of the shuttlecock, in the robot
Bobbin movement to the shuttlecock drop point position range and when stop motion, send mobile Stop message to shuttlecock appearance
The step of state securing component includes：
The processor predicts the drop point of the shuttlecock according to the motion track information, according to falling for the shuttlecock
Point sends motion control information to the controller；The controller controls the robot bottom according to the motion control information
Disk in intended site to the drop point position range motion of the shuttlecock, in the robot bobbin movement to the plumage
When the drop point position range of ball top and stop motion, mobile Stop message is sent to shuttlecock posture securing component；It is described
Processor sends racket also according to the posture information of the shuttlecock and controls information to the controller；The controller is according to institute
The racket control information control racket control assembly is stated to be moved on the robot chassis to which realization receives or serves a ball.
As further, the track acquisition device includes binocular camera shooting device and processing unit, the binocular camera shooting dress
It sets and is connect with the processing unit；
Track securing component obtains the motion track information of aerial shuttlecock, and the motion track information is sent to communication
The step of component, including：
The binocular camera shooting device acquires the moving image of aerial shuttlecock, and the moving image is sent to the processing
Portion；The processing unit obtains motion track information according to the moving image, and the motion track information is sent.
As further, motor encoder and gyroscope are provided on the robot chassis；The robot localization
Method further includes：The motor encoder acquires the movement velocity on the robot chassis, and the movement velocity is sent to institute
State controller；The gyroscope acquires the direction of motion on the robot chassis, and the direction of motion is sent to the control
Device；The controller controls the controller according to the movement velocity and the direction of motion and is moved in intended site.
The embodiment of the present invention additionally provides a kind of robot, and the robot includes movable machine people chassis, installation
In the track securing component on the robot chassis, racket control assembly, shuttlecock posture securing component, communication part and control
Component；
The track securing component is used to obtain the motion track information of aerial shuttlecock, and the motion track information is sent out
It send to the communication part；The communication part is used to the motion track information being sent to the control assembly；The control
Component processed is used to predict the drop point of the shuttlecock according to the motion track information, and institute is controlled according to the drop point of the shuttlecock
Robot chassis is stated in intended site to the drop point position range motion of the shuttlecock, is transported on the robot chassis
When moving the drop point position range of the shuttlecock and stop motion, sends mobile Stop message to shuttlecock posture and obtain
Component；The shuttlecock posture securing component is used for when receiving the mobile Stop message, obtains the posture letter of shuttlecock
Breath, the control assembly is sent to by the posture information of the shuttlecock；The control assembly is additionally operable to according to the shuttlecock
Posture information control the racket control assembly and move on the robot chassis to which realization receives or serves a ball.
As further, the control assembly includes processor and controller, and the processor connects with the controller
It connects；The processor is used to predict the drop point of the shuttlecock according to the motion track information, according to falling for the shuttlecock
Point sends motion control information to the controller；The controller is used to control the machine according to the motion control information
People chassis in intended site to the drop point position range motion of the shuttlecock, in the robot bobbin movement to institute
When stating the drop point position range of shuttlecock and stop motion, mobile Stop message is sent to shuttlecock posture securing component；
The processor is additionally operable to send racket control information to the controller according to the posture information of the shuttlecock；The control
Device is additionally operable to be moved on the robot chassis to real according to the racket control information control racket control assembly
It now receives or serves a ball.
As further, the track acquisition device includes binocular camera shooting device and processing unit, the binocular camera shooting dress
It sets and is connect with the processing unit；The binocular camera shooting device is used to acquire the moving image of aerial shuttlecock, by the motion diagram
As being sent to the processing unit；The processing unit is used to obtain motion track information according to the moving image, by the movement
Trace information is sent.
As further, the shuttlecock posture securing component is video camera.
As further, motor encoder and gyroscope are provided on the robot chassis；The motor encoder
The movement velocity is sent to the controller by the movement velocity for acquiring the robot chassis；The gyroscope is used
In the direction of motion for acquiring the robot chassis, the direction of motion is sent to the controller；The controller is also used
It is moved in intended site in controlling the controller according to the movement velocity and the direction of motion.
As further, the racket control device includes the sliding rail being arranged on the robot chassis, the cunning
Rail is equipped with the sliding block being connect with racket, and the racket for capturing racket is provided on the sliding block and captures structure,
The sliding block is connected with driver, and the driver is connect with the controller；The controller is additionally operable to control the driving
Device drives the sliding block sliding, receives or serves a ball to realize to adjust racket.
An embodiment of the present invention provides a kind of robot localization method and robots, are applied to robot, and the method is first
The motion track information that track securing component obtains aerial shuttlecock is first passed through, by motion track information to communication part, communication
Motion track information is sent to control assembly by component；Secondly, the plumage is predicted according to motion track information by control assembly
It is in place to the drop point of shuttlecock institute in intended site to control robot chassis according to the drop point of shuttlecock for the drop point of ball top
Range motion is set, in drop point position range and the stop motion of robot bobbin movement to shuttlecock, movement is sent and stops
Only information is to shuttlecock posture securing component, when shuttlecock posture securing component receives mobile Stop message, shuttlecock appearance
State securing component obtains the posture information of shuttlecock, and the posture information of shuttlecock is sent to control assembly.Finally, pass through control
Component according to the posture information of shuttlecock control racket control assembly move on the robot chassis to realization receive or
Service.This method enables to robot to play badminton accurately, being capable of approach shot.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of robot localization method flow diagram provided in an embodiment of the present invention.
Fig. 2 shows the flow charts of step S100.
Fig. 3 shows the flow chart of step S300.
Fig. 4 shows the flow chart of step S600, step S700 and step S800.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In embodiments of the present invention, a kind of robot is provided, which can be used for playing badminton.Of the invention real
It applies in example, robot includes movable machine people chassis, is installed on track securing component, the racket control on the robot chassis
Component, shuttlecock posture securing component, communication part and control assembly processed.Robot chassis, racket control assembly, shuttlecock appearance
State securing component and processor are connect with controller, and shuttlecock posture securing component and communication part are connect with processor, communication
Component is connected with the communication of track securing component.
In embodiments of the present invention, track securing component is used to obtain the motion track information of aerial shuttlecock, will move
Trace information is sent to communication part.
In embodiments of the present invention, track acquisition device includes binocular camera shooting device and processing unit, binocular camera shooting device with
Processing unit connects.Binocular camera shooting device is used to acquire the moving image of aerial shuttlecock, and moving image is sent to the processing
Portion, processing unit are used to obtain motion track information according to moving image, motion track information are sent.
Communication part is used to motion track information being sent to control assembly.
Control assembly is used to predict the drop point of shuttlecock according to motion track information, and machine is controlled according to the drop point of shuttlecock
People chassis in intended site to the drop point position range motion of the shuttlecock, in robot bobbin movement to shuttlecock
Drop point position range and when stop motion, send mobile Stop message to shuttlecock posture securing component.
Shuttlecock posture securing component is used for when receiving mobile Stop message, obtains the posture information of shuttlecock, will
The posture information of shuttlecock is sent to control assembly.
In embodiments of the present invention, shuttlecock posture securing component is video camera.
Control assembly is additionally operable to be moved on robot chassis according to the posture information of shuttlecock control racket control assembly
It receives or serves a ball to realize.
In embodiments of the present invention, control assembly includes processor and controller, and processor is connect with controller.
Processor is used to predict the drop point of shuttlecock according to motion track information, and movement control is sent according to the drop point of shuttlecock
Information processed is to controller.
Controller is used to control robot chassis in intended site to the drop point of shuttlecock institute according to motion control information
It sends and moves in drop point position range and the stop motion of robot bobbin movement to shuttlecock in position range motion
Stop message is moved to shuttlecock posture securing component.
In embodiments of the present invention, motor encoder and gyroscope are provided on device people chassis, motor encoder is for adopting
Movement velocity is sent to controller by the movement velocity for collecting robot chassis, and gyroscope is used to acquire the movement on robot chassis
The direction of motion is sent to controller by direction, and controller is additionally operable to control controller pre- according to movement velocity and the direction of motion
Determine to move in place.
Processor is additionally operable to send racket control information to controller according to the posture information of shuttlecock.
Controller is additionally operable to be moved on robot chassis to real according to racket control information control racket control assembly
It now receives or serves a ball.
In embodiments of the present invention, racket control device includes the sliding rail being arranged on the robot chassis, on sliding rail
Equipped with the sliding block being connect with racket, it is provided with the racket for capturing racket on sliding block and captures structure, sliding block connection
There are driver, driver to be connect with controller.
Controller is additionally operable to control the driver driving sliding block sliding, receives or sends out to realize to adjust racket
Ball.
Above-mentioned processor and/or processing unit can be a kind of IC chip, have signal handling capacity.Above-mentioned
Processor and/or processing unit can be general processors, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP), speech processor and video processor etc.；It can also be number
Signal processor, application-specific integrated circuit, field programmable gate array either other programmable logic device, discrete gate or crystal
Pipe logical device, discrete hardware components.It may be implemented or execute the disclosed each method in the embodiment of the present invention, step and patrol
Collect block diagram.General processor can be microprocessor or the processor and/or processing unit can also be any conventional processing
Device etc..
By using above scheme, robot precisely can serve a ball or receive, can be with approach shot.In the embodiment of the present invention
In, nearly ball refer to drop point from badminton net be less than pre-determined distance in the range of shuttlecock or drop point with a distance from robot
The shuttlecock being limited in the range of pre-determined distance.
It please refers to and carries 1, Fig. 1 and show a kind of robot localization method flow diagram provided in an embodiment of the present invention.In this hair
In bright embodiment, robot localization method is applied to above-mentioned robot.In embodiments of the present invention, a kind of robot localization side
Method includes step S100~step S500.Step S100~step S500 is illustrated below in conjunction with Fig. 1.
Step S100：Track securing component obtains the motion track information of aerial shuttlecock, and motion track information is sent
To communication part.
In embodiments of the present invention, step S100 includes step S110 and step S120.Referring to Fig. 2, Fig. 2 shows steps
The flow chart of rapid S100.Step S110 and step S120 can be illustrated in conjunction with Fig. 2 below.
Step S110：Binocular camera shooting device acquires the moving image of aerial shuttlecock, and moving image is sent to processing unit.
Step S120：Processing unit obtains motion track information according to moving image, and motion track information is sent.
Step S200：Motion track information is sent to control assembly by communication part.
Step S300：Control assembly predicts the drop point of shuttlecock according to motion track information, according to the drop point control of shuttlecock
Robot chassis processed in intended site to the drop point position range motion of shuttlecock, in robot bobbin movement to feather
When the drop point position range of ball and stop motion, mobile Stop message is sent to shuttlecock posture securing component.
Referring to Fig. 3, Fig. 3 shows the flow chart of step S300.In embodiments of the present invention, step S300 includes step
S310~step S340.Step S310~step S340 is illustrated below in conjunction with Fig. 3.
Step S310：Processor predicts the drop point of shuttlecock according to motion track information, is sent according to the drop point of shuttlecock
Motion control information is to controller.
Step S320：Controller controls robot chassis falling to shuttlecock in intended site according to motion control information
Point position range motion, in drop point position range and the stop motion of robot bobbin movement to shuttlecock, hair
Send mobile Stop message to shuttlecock posture securing component.
Step S330：Processor sends racket also according to the posture information of shuttlecock and controls information to controller.
Step S340：Controller according to racket control information control racket control assembly move on robot chassis thus
Realization receives or serves a ball.
Step S400：When shuttlecock posture securing component receives mobile Stop message, shuttlecock posture securing component
The posture information for obtaining shuttlecock, control assembly is sent to by the posture information of shuttlecock.
Step S500：Control assembly controls racket control assembly according to the posture information of shuttlecock and is transported on robot chassis
It is dynamic to receive or serve a ball to realize.
In embodiments of the present invention, a kind of robot localization method further includes step S600, step S700 and step S800.
Referring to Fig. 4, Fig. 4 shows the flow chart of step S600, step S700 and step S800.Below in conjunction with Fig. 4 to step S600,
Step S700 and step S800 are illustrated.
Step S600：Motor encoder acquires the movement velocity on robot chassis, and movement velocity is sent to controller.
Step S700：Gyroscope acquires the direction of motion on robot chassis, and the direction of motion is sent to controller.
Step S800：Controller is moved according to movement velocity and direction of motion control controller in intended site.
In conclusion an embodiment of the present invention provides a kind of robot localization method and robot, the method is logical first
The motion track information that track securing component obtains aerial shuttlecock is crossed, by motion track information to communication part, communication part
Motion track information is sent to control assembly；Secondly, the shuttlecock is predicted according to motion track information by control assembly
Drop point, robot chassis is controlled in intended site to the drop point position model of the shuttlecock according to the drop point of shuttlecock
Movement is enclosed, in drop point position range and the stop motion of robot bobbin movement to shuttlecock, sends mobile stopping letter
Breath is to shuttlecock posture securing component, and when shuttlecock posture securing component receives mobile Stop message, shuttlecock posture obtains
It takes component to obtain the posture information of shuttlecock, the posture information of shuttlecock is sent to control assembly.Finally, pass through control assembly
Racket control assembly is controlled according to the posture information of shuttlecock to be moved on the robot chassis to which realization receives or serves a ball.
This method enables to robot to play badminton accurately, being capable of approach shot.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
Claims (10)
1. a kind of robot localization method, which is characterized in that be applied to robot, the robot includes movable machine people
Chassis is installed on the track securing component on the robot chassis, racket control assembly, shuttlecock posture securing component, communicates
Component and control assembly, the robot localization method include：
Track securing component obtains the motion track information of aerial shuttlecock, and the motion track information is sent to communication group
Part；
The motion track information is sent to control assembly by communication part；
Control assembly predicts the drop point of the shuttlecock according to the motion track information, is controlled according to the drop point of the shuttlecock
The robot chassis in intended site to the drop point position range motion of the shuttlecock, on the robot chassis
When moving to the drop point position range of the shuttlecock and stop motion, sends mobile Stop message to shuttlecock posture and obtain
Take component；
When shuttlecock posture securing component receives the mobile Stop message, shuttlecock posture securing component obtains shuttlecock
Posture information, the posture information of the shuttlecock is sent to control assembly；
Control assembly controls the racket control assembly according to the posture information of the shuttlecock and is transported on the robot chassis
It is dynamic to receive or serve a ball to realize.
2. robot localization method according to claim 1, which is characterized in that the control assembly includes processor and control
Device processed, the processor are connect with the controller；
Control assembly predicts the drop point of the shuttlecock according to the motion track information, is controlled according to the drop point of the shuttlecock
The robot chassis in intended site to the drop point position range motion of the shuttlecock, on the robot chassis
When moving to the drop point position range of the shuttlecock and stop motion, sends mobile Stop message to shuttlecock posture and obtain
The step of taking component include：
The processor predicts the drop point of the shuttlecock according to the motion track information, is sent out according to the drop point of the shuttlecock
Send motion control information to the controller；
The controller controls the robot chassis in intended site to the shuttlecock according to the motion control information
Drop point position range motion, the robot bobbin movement to the shuttlecock drop point position range and stop
When only moving, mobile Stop message is sent to shuttlecock posture securing component；
The processor sends racket also according to the posture information of the shuttlecock and controls information to the controller；
The controller controls the information control racket control assembly according to the racket and is moved on the robot chassis
It receives or serves a ball to realize.
3. robot localization method according to claim 2, which is characterized in that the track acquisition device includes that binocular is taken the photograph
As device and processing unit, the binocular camera shooting device is connect with the processing unit；
Track securing component obtains the motion track information of aerial shuttlecock, and the motion track information is sent to communication part
The step of, including：
The binocular camera shooting device acquires the moving image of aerial shuttlecock, and the moving image is sent to the processing unit；
The processing unit obtains motion track information according to the moving image, and the motion track information is sent.
4. robot localization method according to claim 3, which is characterized in that be provided with motor on the robot chassis
Encoder and gyroscope；
The robot localization method further includes：
The motor encoder acquires the movement velocity on the robot chassis, and the movement velocity is sent to the control
Device；
The gyroscope acquires the direction of motion on the robot chassis, and the direction of motion is sent to the controller；
The controller controls the controller according to the movement velocity and the direction of motion and is moved in intended site.
5. a kind of robot, which is characterized in that the robot includes movable machine people chassis, is installed on the robot
Track securing component, racket control assembly, shuttlecock posture securing component, communication part and the control assembly on chassis；
The track securing component is used to obtain the motion track information of aerial shuttlecock, and the motion track information is sent to
The communication part；
The communication part is used to the motion track information being sent to the control assembly；
The control assembly is used to predict the drop point of the shuttlecock according to the motion track information, according to the shuttlecock
Drop point controls the robot chassis in intended site to the drop point position range motion of the shuttlecock, in the machine
Device people bobbin movement to the shuttlecock drop point position range and when stop motion, send mobile Stop message to feather
Ball posture securing component；
The shuttlecock posture securing component is used for when receiving the mobile Stop message, obtains the posture letter of shuttlecock
Breath, the control assembly is sent to by the posture information of the shuttlecock；
The control assembly is additionally operable to control the racket control assembly in the machine according to the posture information of the shuttlecock
Movement receives or serves a ball to realize on people chassis.
6. robot according to claim 5, which is characterized in that the control assembly includes processor and controller, institute
Processor is stated to connect with the controller；
The processor is used to predict the drop point of the shuttlecock according to the motion track information, according to falling for the shuttlecock
Point sends motion control information to the controller；
The controller is used to control the robot chassis in intended site to the plumage according to the motion control information
The drop point position range motion of ball top, in the drop point position range of the robot bobbin movement to the shuttlecock
And when stop motion, mobile Stop message is sent to shuttlecock posture securing component；
The processor is additionally operable to send racket control information to the controller according to the posture information of the shuttlecock；
The controller is additionally operable to control the information control racket control assembly on the robot chassis according to the racket
Upper movement receives or serves a ball to realize.
7. robot according to claim 6, which is characterized in that the track acquisition device include binocular camera shooting device and
Processing unit, the binocular camera shooting device are connect with the processing unit；
The binocular camera shooting device is used to acquire the moving image of aerial shuttlecock, and the moving image is sent to the processing
Portion；
The processing unit is used to obtain motion track information according to the moving image, and the motion track information is sent out
It goes.
8. robot according to claim 7, which is characterized in that the shuttlecock posture securing component is video camera.
9. robot according to claim 8, which is characterized in that be provided on the robot chassis motor encoder and
Gyroscope；
The motor encoder is used to acquire the movement velocity on the robot chassis, and the movement velocity is sent to the control
Device processed；
The gyroscope is used to acquire the direction of motion on the robot chassis, and the direction of motion is sent to the control
Device；
The controller is additionally operable to control the controller in intended site according to the movement velocity and the direction of motion
Movement.
10. according to claim 6-9 any one of them robot, which is characterized in that the racket control device includes setting
Sliding rail on the robot chassis, the sliding rail are equipped with the sliding block being connect with racket, are provided with and are used on the sliding block
The racket for capturing racket captures structure, and the sliding block is connected with driver, and the driver connects with the controller
It connects；
The controller is additionally operable to control the driver and drives the sliding block sliding, received with to realize with to adjust racket or
Person serves a ball.
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