CN100389845C - Table hockey robot system - Google Patents
Table hockey robot system Download PDFInfo
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- CN100389845C CN100389845C CNB2003101044600A CN200310104460A CN100389845C CN 100389845 C CN100389845 C CN 100389845C CN B2003101044600 A CNB2003101044600 A CN B2003101044600A CN 200310104460 A CN200310104460 A CN 200310104460A CN 100389845 C CN100389845 C CN 100389845C
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Abstract
The present invention relates to a table hockey robot system which comprises a visual system, a computer control system and a manipulator, wherein the visual system is used for observing the position of a table hockey; the computer control system is used for processing images collected by the visual system, forecasting the moving track of the hockey body and controlling the manipulator to move; the manipulator is used for implementing hockey hitting actions. The present invention can promote the development of the recreation athletic sport and can also provide a test platform for exploiting algorithms of image processing, man-machine interaction study, intelligent control, etc. for each research institution. The result can be used as a showing platform for the combination of athletic sports and high technology.
Description
Technical field
The present invention relates to a last hockey robot system.
Background technology
Hockey is introduced numerous amusement places in a large number in a lot of countries on the table, is a kind of suitable to people of all ages motion and event.Match is to carry out on the hockey stick billiard table on the table, and the billiard table profile is a rectangle, minimum dimension 1.26m * 0.63m, and there are a lot of pores on the billiard table surface, at the two ends of billiard table a goal is arranged respectively.Ball and racket are circular, discharge compressed air from the billiard table pore during match, make ball float over the billiard table surface, can make approximate friction free along the billiard table surface and move under the bump of racket.Two people play, and the batting of control racket is shot then score of opponents' goal with hockey, prevents that simultaneously hockey from entering from the one's own side goal.
The match of hockey can between people and the robot, be carried out between robot and the robot between men on the table.The hockey robot belongs to a kind of of physical culture robot on the table, along with the development of technology such as electromechanical integration, computer vision, Based Intelligent Control, makes physical culture dexterous robot and intelligent significantly raising, uses also increasingly extensive.The physical culture robot of other type also has Soccer robot (having formed the Soccer robot world cup now), ping-pong robot, tennis robot, vollyball robot etc.The physical culture robot improved on the one hand the people to the interest of sports, make people's the sports more scientific, driven the robot development of technologies on the other hand, formed a lot of cross disciplines.Therefore, no matter be to promote aspects such as health, promotion development in science and technology, the research of physical culture robot all has great importance.
The research of physical culture robot has a lot of general character key technologies, has promoted domestic and international research institution and the scholar research of hockey robot aspect on the table in the last few years.Spong professor (the B.Bishop of American I llinois university, M.W.Spong.Vision-Based Control of an AirHockey Robot.IEEE Control Systems Magazine, 1999:23-32.) can think the founder of hockey robot system, designed system comprises by the bel-drivenn manipulator, vision system and DSP (Digital Signal Processing) control system.People such as the professor Wang Wenjun (W.J.Wang of Taiwan State Central Univ., etc.A vision based air hockey system withfuzzy control.IEEE International Conference on Control Application.2002,18-20.) adopted the line slide rail of 1 free degree and a cradle head as manipulator, this is simple in structure, but for vision system is not blocked by line slide rail when determining the position of ball, line slide rail can only be fixed on outside the end face of billiard table, therefore having limited arm end can only move near the one's own side goal, influences competition effect.People such as Bentivegna (D.C.Bentivegna, etc.Learning from observation using primitives.IEEE InternationalConference on Robotics and Automation, 2001, Vol.2:1988-1993.) the anthropomorphic robot DB that is developed is used for carry out the match of last hockey robot, article one, arm just has 7 frees degree, in control racket course of action, also to relate to other joint, adopted the stereo visual system of two video cameras, whole system is very flexible, but it is then too complicated to go up the hockey robot as table, and cost is too high.
In the present physical culture robot that develops, also there is not real realization and people's match.And that table is gone up the forms of motion of hockey project is fairly simple, does not need complicated robot mechanism, and the breakthrough of every key technology can be integrated on robot system, and therefore, the hockey robot is expected really to put in the real racetrack with the people on the table.The table of being developed is gone up the hockey robot, both can be used for promoting the interest that people join into sports, and handles and the open test platform of Based Intelligent Control as universities and colleges' image, also is very suitable for the displaying project as 2008 Scientific and Technological Olympics.
Summary of the invention
The objective of the invention is to design and a kind ofly can go up the hockey robot system with the table of people's match.
For achieving the above object, a kind of table is gone up the hockey robot system, comprising:
Vision system is used to observe the position of a last hockey, and wherein, described vision system directly extracts the position that belongs to the ball color;
Computer control system is used to handle the image that vision system is gathered, prediction spheroid movement locus, the motion of control manipulator;
Manipulator is used to finish shot, and described manipulator is by motor direct-drive.
One aspect of the present invention can advance the development of this physical recreation motion, and the test platform of the processing of development diagram picture, man-machine interaction, study, Based Intelligent Control scheduling algorithm can be provided for each research institution on the other hand.This achievement can be used as the display platform that sports combine with high-tech.
Description of drawings
Fig. 1 is the three-dimensional view that table is gone up the hockey robot system;
Fig. 2 is the side view that table is gone up the hockey robot system;
Fig. 3 is the vertical view that table is gone up the hockey robot system.
The specific embodiment
Carry out the characteristics of a last hockey tournament according to the people and carry out the design of robot system.Two people are on carrying out table during hockey tournament, lay respectively at the both sides of billiard table, hand-held racket is observed the position when the forecourt place, and judgement travel direction and track, if the ball movement velocity is very fast, and offensiveness is very strong, then holding is defended near clapping the goal of withdrawing and staning on the defensive fast, if the ball movement velocity is slower, then, cook up a kind of route that can break through opponents' goal, realize by batting according to the other side's racket present position.
Therefore, the table of being developed is gone up the hockey robot system and is comprised manipulator, vision system and control system, serves as people's arm, eyes and brain respectively.Because table is gone up a hockey and moved in the plane, adopt the manipulator of the parallel joint shaft of 3DOF can fully realize the action of batting.Because it is very bright-coloured that table is gone up the color of hockey, employing is fixed on the quick location that the colourful CCD video camera directly over the billiard table is realized ball.Adopt computer to realize all calculating, and output command control manipulator is realized the action of batting.
Below in conjunction with accompanying drawing the present invention is described further.
Hockey stick billiard table 6 is fixed on the level ground on the table, and there are a lot of pores on billiard table 6 surfaces, and the buoyancy of its air can be held a last hockey 9, realizes that on table top approximate friction free slides.Opposing teams respectively hold a racket (mechanical hand-held one's own side racket 7, the other side's racket 10) bump table and go up hockey 9 motions, if enter then score of goal.
The hockey robot is made up of manipulator, vision system 5 and computer control system 11 on the table, observe the position that table is gone up hockey (hereinafter to be referred as ball) 9 by vision system 5, computer control system 11 calculates the action of movement locus and one's own side's racket 7 of ball 9, finishes shot by manipulator.
(1) manipulator
Manipulator is the executing agency of whole system, comprises shoulder 3, upper arm 2, forearm 1 and hand 4, and the shoulder, elbow and the wrist joint that connect various piece.These 3 joint shaft directions are parallel and perpendicular to billiard table 6 surfaces, the coordinated movement of various economic factors can realize hand 4 motion planar.Shoulder 3 is fixed on outside billiard table 6 minor faces, and its shoulder joint center is with the central lines of billiard table 6 minor faces.Each connecting rod rotational angle of manipulator and scope definition are as follows, and with reference to the accompanying drawings 3: the angle of upper arm 2 same level lines is the shoulder joint angle, and forearm 1 is the elbow joint angle with the angle between the upper arm 2, and hand 4 is the wrist joint angle with the angle between the forearm 1.The scope of three joint angles is respectively [pi/2, pi/2], [3 π/4,3 π/4] and [3 π/4,3 π/4], that is to say that the extreme position of upper arm 2 rotations is parallel with billiard table 6 minor faces, makes manipulator can not guarantee safety with the object collision around the billiard table 6.
One's own side's racket 7 is fixed on the terminal hand 4 of manipulator, can move up and down and lock, and adjusts the distance of racket destage face, and racket is subjected to the restriction at billiard table 6 edges in motion during the games, is confined in the billiard table 6, has guaranteed the robot and the safety of object on every side.When the installation and removal of manipulator and billiard table 6, racket can be moved on to topmost, can rotate table top with whole manipulator, handled easily this moment.
Whole billiard table 6 can be divided into two parts, one's own side's billiard table and opponent's court, and every subregion all is approximately square, and the motion of each side's racket is limited in from one's own side.Racket is tried one's best near one's own side's table center to make action fast, then make racket as far as possible near the one's own side goal if realize the defence strategy, therefore, can control racket each position at one's own side's billiard table, help realizing different attacking and defending strategy conversions, win the game.Can see that from accompanying drawing 3 working space of manipulator has covered one's own side's billiard table substantially, this also is one of major advantage that adopts by the 3DOF manipulator.Racket and ball 9 are circular (triangle and square is also arranged) generally speaking, and therefore, the end of manipulator does not have the variation of attitude, adopts the manipulator of 2DOF just can finish the work in theory, but its working space is little.In addition, the 3DOF manipulator also has the characteristics of redundancy, just controls racket and moves to another position from a position, and the rotation in each joint can be taked multiple different combination, can therefrom choose a kind of of optimum when making practical operation.In addition, if ball 9 is changed into triangle and when square, the 3DOF manipulator not only can carry out Position Control, can also realize clashing into the control of attitude.
Each joint of manipulator is directly rotated by motor-driven, and motor links to each other with driver, is connected on the computer, sends the instruction that the control motor rotates by computer.Generally speaking, the movement velocity of arm end is better than the movement velocity of staff, and people's forearm can only inwardly swing, and its motion on billiard table 6 exists dead band or disadvantageous zone.And manipulator is fixed on the center line of billiard table, can freedom unrestrictedly move to the left and right, and this is characteristics and advantage that this body structure of robot system is determined.
(2) vision system
The another one effect of vision system 5 is exactly can be by observing person to person's match, the method that makes robot system extract which kind of batting can be won the game, has most offensiveness, the defence of which kind of method preferably waits, the attacking and defending strategy of robot system can be obtained from different people, fully perfect.
(3) computer control system
Computer control system 11 is cores of whole system, is used for finishing all computing functions, comprises the image processing of vision system 5, the prediction of spheroid movement locus and the movement locus planning of manipulator etc.
Can't extract its position for preventing that ball 9 from being blocked by the manipulator body; and guarantee that manipulator makes action fast; adopting the trajectory predictions algorithm to estimate ball 9 at next movement position constantly, is direct directive goal or the 6 edges bounce-back of bump billiard table, so that manipulator is taked suitable defensive action.
The strategy that manipulator plays is mentioned in the front can be divided into two kinds of attack and defense, and this with the mankind seemingly embodies with two kinds of programs in control system 11, and in conversion during the games.If very fast in ball 9 movement velocitys, nearer apart from the goal, the next defence strategy of taking of situation that can scoring etc., arm end just moves near the goal, directly stops the shooting lane of ball 9.If slower in ball 9 movement velocitys, situation about far waiting apart from the goal is next can take the attack strategy.It is complicated that the attack strategy is wanted, according to the position and the movement velocity of ball 9, the position of the other side's racket 10, calculate one can scoring the movement locus of ball 9, and suitable rum point and required active force are controlled 7 actions of one's own side's racket again and are finished the work.For guaranteeing the realization of offensive mission, one's own side's racket 7 is as far as possible near the position of one's own side's table center, makes one's own side's racket 7 can quick acting, strengthens the difficulty of the other side's defence.
The top manipulator of introducing, vision system 5 and computer control system 11 have been formed a last hockey robot system jointly, can be used for realizing and the people between table go up hockey tournament.
Claims (8)
1. hockey robot system on the table comprises:
Vision system is used to observe the position of a last hockey, and wherein, described vision system directly extracts the position that belongs to the ball color;
Computer control system is used to handle the image that vision system is gathered, prediction spheroid movement locus, the motion of control manipulator;
Manipulator is used to finish shot, and described manipulator is by motor direct-drive.
2. by the described system of claim 1, it is characterized in that described vision system adopts colourful CCD video camera.
3. by the described system of claim 1, it is characterized in that the field range of described vision system covers whole desktop.
4. by the described system of claim 1, it is characterized in that described manipulator comprises shoulder, elbow and the wrist joint that is fixed on the outer shoulder of desktop minor face, upper arm, forearm, hand and connects each several part, has 3 frees degree.
5. by the described system of claim 1, it is characterized in that the shoulder of described manipulator, elbow are parallel with carpal direction of principal axis, the shoulder of described manipulator, elbow and carpal direction of principal axis are perpendicular to the surface of desktop.
6. by the described system of claim 5, it is characterized in that shoulder joint angle, elbow joint angle, wrist joint angle are respectively [pi/2, pi/2], [3 π/4,3 π/4], [3 π/4,3 π/4].
7. by the described system of claim 4, it is characterized in that racket is fixed on end on hand, can move up and down and lock, adjust the distance of racket from desktop.
8. by the described system of claim 1, it is characterized in that the diameter of the horizontal cross-section width of described manipulator less than hockey on the table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101044600A CN100389845C (en) | 2003-10-29 | 2003-10-29 | Table hockey robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101044600A CN100389845C (en) | 2003-10-29 | 2003-10-29 | Table hockey robot system |
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| Publication Number | Publication Date |
|---|---|
| CN1611282A CN1611282A (en) | 2005-05-04 |
| CN100389845C true CN100389845C (en) | 2008-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003101044600A Expired - Fee Related CN100389845C (en) | 2003-10-29 | 2003-10-29 | Table hockey robot system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908044A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Ball playing robot |
| CN105373128B (en) * | 2015-06-17 | 2018-06-12 | 电子科技大学 | Shuttlecock robot and its whole audience localization method |
| CN108939490B (en) * | 2018-10-09 | 2021-04-23 | 中科新松有限公司 | Table tennis robot |
| JP7436197B2 (en) * | 2019-12-16 | 2024-02-21 | ファナック株式会社 | Goods conveyance system |
| CN112192565A (en) * | 2020-09-16 | 2021-01-08 | 哈尔滨理工大学 | Billiards hitting device with manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002315963A (en) * | 2001-04-23 | 2002-10-29 | Sanyo Electric Co Ltd | Game interface device |
| JP2003093730A (en) * | 2001-09-21 | 2003-04-02 | Matsushita Electric Ind Co Ltd | Robot, game device using the same, and its control method |
| US20030108852A1 (en) * | 2001-12-07 | 2003-06-12 | Simon Berdugo | Movable goalie |
| CN2649274Y (en) * | 2003-10-29 | 2004-10-20 | 中国科学院自动化研究所 | Table hockey robot system |
-
2003
- 2003-10-29 CN CNB2003101044600A patent/CN100389845C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002315963A (en) * | 2001-04-23 | 2002-10-29 | Sanyo Electric Co Ltd | Game interface device |
| JP2003093730A (en) * | 2001-09-21 | 2003-04-02 | Matsushita Electric Ind Co Ltd | Robot, game device using the same, and its control method |
| US20030108852A1 (en) * | 2001-12-07 | 2003-06-12 | Simon Berdugo | Movable goalie |
| CN2649274Y (en) * | 2003-10-29 | 2004-10-20 | 中国科学院自动化研究所 | Table hockey robot system |
Non-Patent Citations (1)
| Title |
|---|
| Vision-Based Control of an Air Hockey Playing Robot.. Bradley E. Bishop and Mark W.Spong.IEEE Control Systems Magazine. 1999 * |
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| Publication number | Publication date |
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| CN1611282A (en) | 2005-05-04 |
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