CN103389738B - A kind of method and apparatus for ping-pong robot prediction table tennis track - Google Patents
A kind of method and apparatus for ping-pong robot prediction table tennis track Download PDFInfo
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Abstract
For a method and apparatus for ping-pong robot prediction table tennis track, belong to robotics.Described method comprises: gather 2 position coordinateses in table tennis flight course; mistiming and positional information is utilized to dope the flight path of table tennis; analyze and judge that whether track is in the hitting region of ping-pong robot, and decision information (optimum batting point or protection information) is sent to robot.If track is in hitting region, robot is planned by real-time action, realizes batting.Described device comprises: 2 position detecting module, real-time processing module and communication modules.Method and apparatus provided by the invention can predict table tennis ball flying path in real time effectively, completes shot to realize ping-pong robot.It is simple that the present invention also has algorithm, the advantages such as practical, cost is low, and environmental suitability is strong.
Description
Technical field
The invention discloses a kind of method for ping-pong robot prediction table tennis track, belong to robotics.
Background technology
In the near future, robot will progressively enter into the daily life of the mankind, and adaptation human habitat coexists with mankind close friend, becomes the indispensable best of friends of the mankind and helper, and explosive growth will appear in its related industry.Robot can assist the mankind to complete work that is complicated, that repeat in various occasion.In order to make robot better conform, research that is quick based on robot, lasting, dexterous operation becomes the focus of field in intelligent robotics.
Robot impact table tennis, be robot rapidly, continuously, the exemplary of dexterous operation.To in the process of playing table tennis, the each flight path of table tennis is all different, realize robot and impact table tennis in real time, first, the prior flight path to table tennis must predict as the mankind, then decision-making goes out best batter's box, finally drives health to complete corresponding shot fast.The whole process of impact table tennis only has hundreds of millisecond, in order to realize accurately impacting table tennis, is a vital step to the fast prediction of table tennis ball flying path.If do not use trajectory predictions or predicted time too short, ping-pong robot will can not make correlated response in time due to the delayed of decision-making and the restriction driven, and finally can not realize real-time batting.Meanwhile, if predicated error is excessive, ping-pong robot balling effect will be undesirable, even can not ace.Based on bionic principle, the prediction of table tennis ball flying path comprises the detection of table tennis initial flight position and the prediction of follow-up track.
At present, the binocular stereo vision of what most ping-pong robot realized that impact table tennis adopts is exactly apery, identifies table tennis fast by two cameras and calculates the three-dimensional coordinate of table tennis.Then, according to aerodynamics and crash analysis, mathematical modeling is carried out to table tennis air path, and pass through several table tennis air travel position of the quick continuous acquisition of vision system, the flight path of table tennis is predicted, obtains the Position, Velocity and Time information that table tennis arrives table tennis when fixing batting plane.Finally, robot utilizes the impact information received, and carries out fast planning in real time, realize impact table tennis to arm batting track.
Existing patent 201110136109.4 provides a kind of method obtaining ping-pong robot racket batting attitude and striking speed, and the method is exactly the speed and the attitude that are obtained racket batting by vision system, to realize robot impact table tennis operation.Existing patent 200910095291.6 discloses a kind of accurately measurement and predicts table tennis track system and system operation method, the key components of this system are exactly vision system, the important purposes of its one is just to provide the current real-time information of table tennis to upper strata automated system, namely realizes robot impact table tennis.
Existing Taiwan Patent TWM427178U1 provides a kind of intelligent billiards air exercise device, and this device is one and utilizes vision system to detect sportsman to bat course of action, carry out autonomous computing, send the ball of various trail change; Existing Jap.P. JP2008036383 discloses a kind of table tennis battle robot of mechanical arm arm type, and what this invention adopted is that vision system realizes robot batting.
Although above method adopts the binocular stereo vision of apery that robot can be made to realize impact table tennis, machine vision is at Context awareness and adapt to the gap of human eye also very large.Current, adopt vision system prediction flight path to there is a lot of limitation, concrete manifestation is as follows:
1. what adopt due to vision is the limb recognition of solid color, and the table tennis of robot impact can only use the ball of specific pure color, and there is the table tennis of multiple color on the market, significantly limit the scope of application.
2. vision system is harsh especially to environmental requirement, and in environment, the power of light and the change (particularly homochromy with table tennis object) of color all can cause interference to the identification of vision, in other words adaptive capacity to environment and antijamming capability very poor.
3. vision system generally needs to demarcate before use, and the complexity that this process compares.Meanwhile, binocular stereo vision requires stricter to the relative position of two cameras.
4. in order to realize robot impact table tennis, vision system requires higher to precision and sensitivity etc., needs the camera using specialty, and cost is also just corresponding higher.
In order to avoid above many deficiencies of vision system, improve environmental suitability and the practicality of ping-pong robot impact table tennis.Need badly and find another kind of new detection method, existing patent 200620001453.7 discloses a kind of artificial intelligence monitors table tennis table, this device uses LASER Discharge Tube and laser pick-off pipe to carry out auxiliary detection to edge ball, but the two-value that the method only limits to the edge positions being applied to table tennis table is measured.
Summary of the invention
In order to realize ping-pong robot impact table tennis, and improve the ping-pong robot impact environmental suitability of table tennis, antijamming capability and practicality.The object of the present invention is to provide a kind of method for ping-pong robot prediction table tennis track, the flight path of real-time estimate table tennis, and track is analyzed, make a policy.Finally ping-pong robot is sent to realize shot decision information.Technical scheme of the present invention is as follows:
For a method for the prediction table tennis track of ping-pong robot, described method comprises:
Table tennis several time of putting and positional informations in the flight path starting stage are obtained by pick-up unit;
Real-time estimate table tennis ball flying path also makes relevant Decision, sends to ping-pong robot;
Real-time online plans the all-around exercises of described table tennis robot, realizes shot.
A kind of ping-pong robot system, comprising:
Ping-pong robot;
Pick-up unit, can obtain table tennis several time of putting and positional informations in the flight path starting stage;
Real-time processing device, its real-time estimate table tennis ball flying path is also made relevant Decision and is sent to ping-pong robot; Described ping-pong robot real-time online plans the all-around exercises of described table tennis robot, realizes shot.
Advantage of the present invention is:
By two-dimensional laser grid, table tennis initial track position is gathered, and real-time estimate is carried out to table tennis track, to realize the object of ping-pong robot impact table tennis, do not need complicated vision system to carry out table tennis track prediction, adaptive capacity to environment is strong, calculate and simply, easily realize.Meanwhile, prognoses system has certain intelligent, can decision-making ping-pong robot the need of making shot, thus increase the security of robot.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, by the description to embodiment, these and/or other aspect of the present invention and advantage will become more clear and easy to understand, wherein:
Fig. 1 utilizes the inventive method and device to realize people and ping-pong robot to the schematic diagram of playing table tennis;
Fig. 2 utilizes the inventive method and device to realize two ping-pong robots to the schematic diagram of playing table tennis;
Fig. 3 is the design flow diagram of the inventive method and device;
Fig. 4 is the schematic diagram of the position detecting module (when not having table tennis to pass through) involved by patent of the present invention;
Fig. 5 is the schematic diagram of the position detecting module (when table tennis passes through) involved by patent of the present invention;
Fig. 6 is the error analysis schematic diagram of the position detecting module involved by patent of the present invention;
Fig. 7 is the position detecting device correlation parameter design diagram involved by patent of the present invention;
Fig. 8 is the force analysis of table tennis airflight;
Fig. 9 is the schematic diagram that the table tennis vertical direction flight path involved by patent of the present invention is analyzed and judged;
Figure 10 is the schematic diagram that the table tennis horizontal direction flight path involved by patent of the present invention is analyzed and judged;
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, but not as a limitation of the invention.
Specific embodiment 1 utilizes the inventive method and device to realize people and ping-pong robot to playing table tennis, and Fig. 1 is the schematic diagram of specific embodiment 1.
Specific embodiment 2 utilizes the inventive method and device to realize two ping-pong robots to playing table tennis, and Fig. 2 is the schematic diagram of specific embodiment 2.The design of specific embodiment 2 and specific embodiment 1 is basically identical, and difference is that have employed two cover table tennis track prognoses systems predicts to two ping-pong robots respectively.So following embodiment is only introduced embodiment 1.
Ping-pong table can be adopted international standards ping-pong table (long: 1370 × 2mm, wide: 1526mm, net height 160mm), and position detecting device is placed on above that the half ball table away from corresponding ping-pong robot, to reach the object of prediction.
Fig. 3 gives a kind of particular flow sheet of the method and apparatus for ping-pong robot prediction table tennis track, comprises following two steps: the some positions detecting the table tennis ball flying path starting stage; Real-time estimate table tennis ball flying path also makes relevant Decision, sends to ping-pong robot.
Described step " detects some positions of table tennis ball flying path starting stage " and comprising:
By laser-photodiode device composition position detecting module, non-contact measurement is carried out to the table tennis of high-speed motion.Position detecting module do not have table tennis by time be a two-dimensional laser grid, as shown in Figure 4 (note: grid cover overall area designed by actual needs, this figure only illustrates).Now the photodiode in x direction and y direction can receive laser.When position detecting module have table tennis by time, now the part photodiode in x direction and y direction can not receive laser due to blocking of table tennis, as the shading region in Fig. 5, can respond the positional information of table tennis fast.
In order to ensure the accuracy of pick-up unit, need to carry out appropriate design to the distance of adjacent two bundle laser.When laser beam spacing is excessive, the precision of measurement is difficult to ensure; When laser beam spacing is too small, the grow that influences each other between adjacent two bundle laser, may occur the maloperation of adjacent receptors, the design with timer can complicate.So, select suitable laser beam spacing very important.
Table tennis diameter is l=40mm, the spacing of adjacent laser beams is defined as d=10mm by the embodiment of the present invention, as shown in Figure 6, generally (except specific position table tennis and two, to restraint laser tangent for table tennis, position as shown in Fig. 6 dotted line) be can respectively block 4 bundle laser in x, y direction, in the middle of now selecting, the mid point of two-beam is as the coordinate figure x of table tennis under grid coordinate system
nand y
n, meanwhile, we can calculate maximum error of measuring and are
meet the accuracy requirement that ping-pong robot realizes impact table tennis.According to the work space of ping-pong robot in the embodiment of the present invention, the total area of laser network is designed to S=1600mm × 800mm herein.
When predicting the flight path of table tennis, in the flight aerodynamics model of table tennis, there is speed term, only can not be obtained the prediction flight path of table tennis by the positional information of an initial point.So need multiple position detecting module acting in conjunction herein, consider that pick-up unit takies ball table space, the embodiment of the present invention only uses two position detecting module to carry out velocity survey to flight path simultaneously, can meet the requirement of table tennis ball flying path prediction.Concrete enforcement as shown in Figure 7, set up three-dimensional world coordinate system OXYZ, true origin O overlaps with the initial point of the grid coordinate system of position detecting module 1, X-axis is also identical with y-axis direction with grid coordinate system x-axis with the direction of Y-axis simultaneously, and the direction of Z axis is obtained (pointing to position detecting module 2 by position detecting module 1) by the right-hand rule.
The instantaneous velocity of table tennis flight adopts the average velocity of short time
replace, write as three-dimensional coordinate form as follows:
Wherein (x
n1, y
n1) for table tennis is by the mesh coordinate of (in Fig. 7 A point) during position detecting module 1, (x
n2, y
n2) for table tennis is by the mesh coordinate of (in Fig. 7 B point) during position detecting module 2, D is the distance of position detecting module 1 and 2 in Z-direction, t
1and t
2for table tennis is by the time of position detecting module 1 and 2.
X in velocity expression
n1, y
n1, x
n2, y
n2, t
1and t
2can be obtained by detection, D, as known quantity, needs to carry out appropriate design.If D value is very large, Δ t will be very large, and instantaneous velocity is measured will be inaccurate, takies ball table space simultaneously and increase, and need the track considered to become many, thus Flight Trajectory Prediction algorithm complicates; If contrary D value is very little, table tennis is not obvious through time too short Δ t, x and the y direction change in location of two position detecting module, and speed is measured inaccurate equally.Consider the factor of each side, the embodiment of the present invention adopts space D=100mm.
The object of table tennis ball flying path prediction is realized for the present embodiment, position detecting device needs to be placed on that the half ball table away from corresponding ping-pong robot with it, and need to design in Z-direction and net distance L position detecting system, L is too little, the predicted time of table tennis shortens, and the track of starting stage cannot be known; L too conference causes estimation range oversize, and iteration cumulative errors increases, simultaneously position detecting system from ball table edge too close to can affect people or ping-pong robot batting.The present invention selects embodiment to select L=1070mm.
In actual applications, the mesh spacing d of position detecting module (laser-photodiode device), area coverage S, usage quantity N, and the parameter such as the relative position relation of multiple position detecting module (D and L as in embodiment) need design according to concrete request for utilization, is not limited to embodiments of the invention.
Described step " real-time estimate table tennis ball flying path also makes relevant Decision, sends to ping-pong robot " comprising:
The first step, utilizes aerodynamics and elastic collision mechanics to carry out modeling to the flight path of table tennis.Aerodynamics Model can be used for the track predicting inflight phase, and collision model can obtain the speed of table tennis collision rift according to the speed before collision, so just can continue to utilize Aerodynamics Model to predict the flight path of collision rift table tennis.As shown in Figure 8, the table tennis of an airflight is subject to gravity F
g, buoyancy F
b, air resistance F
fwith magnus force F
mthe acting in conjunction of four power.
Gravity F
g=mg, direction is straight down;
Buoyancy F
b=ρ
agV, direction is straight up;
Air resistance
direction is contrary with table tennis velocity reversal, wherein C
dfor resistance coefficient, its value is relevant to Reynolds number, ρ
afor the density of fluid, A is table tennis perpendicular to the projected area on flow plane, herein
v is the speed (namely the movement velocity of table tennis) of fluid;
Magnus force
direction is perpendicular to velocity reversal, and it is main relevant with angular velocity with the speed of table tennis.
Carry out calculating by substitution correlation parameter known, the skyborne motion of table tennis is mainly by gravity F
gwith air resistance F
fimpact, buoyancy F
bwith magnus force F
mimpact can ignore.Thus the acceleration of table tennis can be obtained
as follows:
Wherein
write as matrix form to obtain:
The integrated acceleration of table tennis obtains speed, then integration just can obtain the position of table tennis.
When table tennis and ball table collide, collision continuous model (before and after collision, speed is linear by collision coefficient) can be utilized to obtain the speed of collision rift.If the velocity attenuation in all directions is several η, then the velocity expression of collision rift is as follows:
The flight path of collision rift table tennis still uses the Aerodynamics Model used to predict above.
Second step, the time that analysis position detection system obtains and position signalling, if t
1< t
2(table tennis is first by position detecting module 1), now pick-up unit detects the heading of table tennis for flying to net direction, need the speed calculating table tennis flight, and the initial position obtained and velocity information are substituted into above-mentioned Aerodynamics Model and collision model, draw the prediction flight path (t of table tennis
i, x
i, y
i, z
i).If t
1> t
2(table tennis is first by position detecting module 2), now pick-up unit detects the heading of table tennis for flying away from net direction, and the position Detection Information collected does not have predicting function, do not need to carry out follow-up prediction computing, directly ignores.
3rd step, as shown in Figure 9 and Figure 10, analyzes the prediction locus of table tennis, judges that whether table tennis is crossed net, whether out-of-bounds, whether in the working range of ping-pong robot, if final analysis track can realize batting, calculated optimum batting point.
Out-of-bounds judge: first point of impingement calculating table tennis
coordinate (x
c1, 0.02, z
c1), if x
c≤ 0 or x
c>=1256mm, table tennis will in left and right directions (x-axis direction) out-of-bounds, as shown in Figure 10; If z
c>=L+1370mm=2440mm, table tennis will fore-and-aft direction (z-axis direction) out-of-bounds, as shown in Figure 9.
Cross and net judgement: if z
c≤ L=1070mm, table tennis did not also have net just to there occurs collision with ball desktop, and belonging to ball did not have net.Need in addition to calculate table tennis by net plane (z
m=L=1070mm) time coordinate (x
m, y
m, 1070), if H is net height, if y
m> H=160mm, table tennis can pass through above net, otherwise table tennis can hit net.
Good shot judges: table tennis is normal to be crossed net and after colliding with ball table, utilizes collision model and Aerodynamics Model to predict table tennis ball flying path, calculates the second point of impingement coordinate (x of table tennis
c2, 0.02, z
c2), if z
c2≤ L+1370mm=2440mm, table tennis will with desktop generation secondary collision, this kind of ball belongs to short ball, generally not at the work space of ping-pong robot.Then coordinate (the x of table tennis prediction flight path in the best batting plane is calculated
p, y
p, z
p), if x
pmin≤ x
p≤ x
pmaxand y
pmin≤ y
p≤ y
pmax, this kind of ball just belongs to good shot, and ping-pong robot can provide projecting parameter and realize batting.Otherwise the track definition of table tennis is difference ball (containing short ball noted earlier), and robot cannot realize batting.
Wherein best batting planimetric position parameter z
pwith robot arm work space parameter x
pmin, x
pmax, y
pmin, y
pmaxconfigured by concrete ping-pong robot and determine.The definition of different ping-pong robots to good shot and difference ball is different, but this is the difference of parameter designing in real-time processing module, does not affect the application of patent of the present invention.
4th step, when table tennis prediction flight path is judged as only net or out-of-bounds, the decision information that real-time processing module obtains is protection of winning the match; When table tennis prediction flight path is for difference ball, decision information is for losing protection; When table tennis prediction flight path is good shot, decision information is optimum batting point information (t
p, x
p, y
p, z
p).By communication module (both can be wired also can be wireless), decision information is issued ping-pong robot.When ping-pong robot receive be win the match protection or lose protection time, ping-pong robot will keep motionless; When receive be optimum batting point information time, robot will make real-time action planning, and performs shot, realizes batting.
The embodiment of the present invention realizes the collection of table tennis initial position message by position detecting module, real-time processing module is utilized to carry out trajectory predictions and analysis, the decision information adopting communication module real-time processing module to be obtained sends to ping-pong robot, finally realizes ping-pong robot and people or another ping-pong robot to the target of playing table tennis.Use laser network effectively can improve ping-pong robot to the environmental suitability of playing table tennis as pick-up unit; the protection decision-making utilizing table tennis track analytical algorithm to make can effectively prevent ping-pong robot from making maloperation to bat, and improves the security of ping-pong robot.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1., for a method for the prediction table tennis track of ping-pong robot, described method comprises:
Table tennis several time of putting and positional informations in the flight path starting stage are obtained by pick-up unit;
Real-time estimate table tennis ball flying path also makes relevant Decision, sends to ping-pong robot;
Real-time online plans the all-around exercises of described table tennis robot, realizes shot;
Describedly obtain table tennis by pick-up unit and comprise in times of several points of flight path starting stage and the step of positional information:
Described pick-up unit comprises the position detecting module with laser-photodiode device composition; Described position detecting module do not have table tennis by time be a two-dimensional laser grid, now the photodiode in x direction and y direction can receive laser; When described position detecting module have table tennis by time, now the part photodiode in x direction and y direction can not receive laser due to blocking of table tennis, can respond the positional information of table tennis;
When predicting the flight path of table tennis, making multiple described position detecting module acting in conjunction, velocity survey is carried out to flight path;
Described multiple described position detecting module comprises primary importance detection module and second place detection module;
Set up three-dimensional world coordinate system OXYZ, true origin O overlaps with the initial point of the grid coordinate system of described primary importance detection module, and X-axis is also identical with y-axis direction with grid coordinate system x-axis with the direction of Y-axis simultaneously, and the direction of Z axis is obtained by the right-hand rule;
The instantaneous velocity of table tennis flight adopts the average velocity of short time
replace, write as three-dimensional coordinate form as follows:
Wherein (x
n1, y
n1) for table tennis is by mesh coordinate during primary importance detection module, (x
n2, y
n2) for table tennis is by mesh coordinate during described second place detection module, D is the distances of described first and second position detecting module in Z-direction, t
1and t
2for table tennis is by the time of described first and second position detecting module.
2. method according to claim 1, is characterized in that, the spacing of the adjacent laser beams of described two-dimensional laser grid is defined as d=10mm.
3. method according to claim 1, is characterized in that, described first and second position detecting module are at the distance D=100mm of Z-direction.
4. the method according to any one of claim 1-3, is characterized in that, described step " real-time estimate table tennis ball flying path also makes relevant Decision, sends to ping-pong robot " comprising:
The first step, utilizes aerodynamics and elastic collision mechanics to carry out modeling to the flight path of table tennis; The table tennis of airflight is subject to gravity F
g, buoyancy F
b, air resistance F
fwith magnus force F
mthe acting in conjunction of four power;
Gravity F
g=mg, direction is straight down;
Buoyancy F
b=ρ
agV, direction is straight up;
Air resistance
direction is contrary with table tennis velocity reversal, wherein C
dfor resistance coefficient, its value is relevant to Reynolds number, ρ
afor the density of fluid, A is table tennis perpendicular to the projected area on flow plane, herein
v is the movement velocity of table tennis;
Magnus force
direction is perpendicular to velocity reversal, and it is main relevant with angular velocity with the speed of table tennis;
Carry out calculating by substitution correlation parameter known, the skyborne motion of table tennis is mainly by gravity F
gwith air resistance F
fimpact, buoyancy F
bwith magnus force F
mimpact can ignore; Thus obtain the acceleration of table tennis
for
Wherein
write as matrix form to obtain:
Speed is obtained to the integrated acceleration of table tennis, then integration just can obtain the position of table tennis;
When table tennis and ball table collide, collision continuous model is utilized to obtain the speed of collision rift; If the velocity attenuation in all directions is several η, then the velocity expression of collision rift is as follows:
The flight path of collision rift table tennis still uses the Aerodynamics Model used to predict above;
Second step, analyzes time and position signalling that described position detecting module obtains, if t
1< t
2namely table tennis is first by described primary importance detection module, now the heading of table tennis is for flying to net direction, need the speed calculating table tennis flight, and the initial position obtained and velocity information are substituted into above-mentioned Aerodynamics Model and collision model, draw the prediction flight path (t of table tennis
i, x
i, y
i, z
i); If t
1> t
2, namely table tennis is first by described second place detection module, and now the heading of table tennis is for flying away from net direction, and the position Detection Information collected does not have predicting function, does not need to carry out follow-up prediction computing, directly ignores;
3rd step, analyzes the prediction locus of table tennis, judges that whether table tennis is crossed net, whether out-of-bounds, whether in the working range of ping-pong robot, if final analysis track can realize batting, calculated optimum batting point;
Out-of-bounds judge: the first point of impingement coordinate (x calculating table tennis
c1, 0.02, z
c1), if x
c≤ 0 or x
c>=1256mm, table tennis will in left and right directions out-of-bounds; If z
c>=L+1370mm=2440mm, table tennis will fore-and-aft direction out-of-bounds;
Cross and net judgement: if z
c≤ L=1070mm, table tennis did not also have net just to there occurs collision with ball desktop, and belonging to ball did not have net; Need in addition to calculate table tennis by net plane (z
m=L=1070mm) time coordinate (x
m, y
m, 1070), if H is net height, if y
m> H=160mm, table tennis can pass through above net, otherwise table tennis can hit net;
Good shot judges: table tennis is normal to be crossed net and after colliding with ball table, utilizes collision model and Aerodynamics Model to predict table tennis ball flying path, calculates the second point of impingement coordinate (x of table tennis
c2, 0.02, z
c2), if z
c2≤ L+1370mm=2440mm, table tennis will with desktop generation secondary collision, this kind of ball belongs to short ball, not at the work space of ping-pong robot; Then coordinate (the x of table tennis prediction flight path in the best batting plane is calculated
p, y
p, z
p), if x
pmin≤ x
p≤ x
pmaxand y
pmin≤ y
p≤ y
pmax, this kind of ball just belongs to good shot, and ping-pong robot can provide projecting parameter and realize batting; Otherwise the track definition of table tennis is difference ball, and robot cannot realize batting;
4th step, when table tennis prediction flight path is judged as only net or out-of-bounds, the decision information that real-time processing module obtains is protection of winning the match; When table tennis prediction flight path is for difference ball, decision information is for losing protection; When table tennis prediction flight path is good shot, decision information is optimum batting point information (t
p, x
p, y
p, z
p); By communication module, decision information is issued ping-pong robot; When ping-pong robot receive be win the match protection or lose protection time, ping-pong robot will keep motionless; When receive be optimum batting point information time, robot will make real-time action planning, and performs shot, realizes batting.
5. a ping-pong robot system, comprising:
Ping-pong robot;
Pick-up unit, can obtain table tennis several time of putting and positional informations in the flight path starting stage;
Decision making device, its real-time estimate table tennis ball flying path is also made relevant Decision and is sent to ping-pong robot; Described ping-pong robot real-time online plans the all-around exercises of described table tennis robot, realizes shot;
Described pick-up unit comprises the position detecting module with laser-photodiode device composition; Described position detecting module do not have table tennis by time be a two-dimensional laser grid, now the photodiode in x direction and y direction can receive laser; When described position detecting module have table tennis by time, now the part photodiode in x direction and y direction can not receive laser due to blocking of table tennis, can respond the positional information of table tennis;
When predicting the flight path of table tennis, making multiple described position detecting module acting in conjunction, velocity survey is carried out to flight path;
Described multiple described position detecting module comprises primary importance detection module and second place detection module;
Set up three-dimensional world coordinate system OXYZ, true origin O overlaps with the initial point of the grid coordinate system of described primary importance detection module, and X-axis is also identical with y-axis direction with grid coordinate system x-axis with the direction of Y-axis simultaneously, and the direction of Z axis is obtained by the right-hand rule;
The instantaneous velocity of table tennis flight adopts the average velocity of short time
replace, write as three-dimensional coordinate form as follows:
Wherein (x
n1, y
n1) for table tennis is by mesh coordinate during primary importance detection module, (x
n2, y
n2) for table tennis is by mesh coordinate during described second place detection module, D is the distances of described first and second position detecting module in Z-direction, t
1and t
2for table tennis is by the time of described first and second position detecting module.
6. ping-pong robot system according to claim 5, is characterized in that, described decision making device adopts real-time Processing Algorithm, and process obtains time and the coordinate information that table tennis passes through each position detecting module; Then according to flight aerodynamics model and the rebound model of table tennis, the movement locus of table tennis is obtained; Finally carry out net, out-of-bounds and batting space to movement locus to judge, make corresponding decision.
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