CN104436611A - Projection-type automatic ball serving device and ball serving method thereof - Google Patents
Projection-type automatic ball serving device and ball serving method thereof Download PDFInfo
- Publication number
- CN104436611A CN104436611A CN201410748906.1A CN201410748906A CN104436611A CN 104436611 A CN104436611 A CN 104436611A CN 201410748906 A CN201410748906 A CN 201410748906A CN 104436611 A CN104436611 A CN 104436611A
- Authority
- CN
- China
- Prior art keywords
- ball
- control signal
- service
- rotation
- video
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000000386 athletic effect Effects 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 230000003044 adaptive effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a projection-type automatic ball serving device and a ball serving method thereof, relates to an automatic ball serving machine and solves the problems that an existing ball serving machine cannot simulate training or a competitor in the game actually, and the training effect is poor accordingly. Video files played by an upper computer are projected to a screen; a controller controls the ball serving position by controlling the operation states of a transverse servo motor, longitudinal servo motor and lifting platform, controls the rotating direction of the ball by controlling the rotating angle of a ball tube and controlling the ball serving speed by controlling the operation state of an air compressor. The ball serving time, position, speed and rotating direction are consistent with those of a player in the video, the actual competitor can be simulated, a realistic training environment is provided to a trainer, and the training effect is improved; the device is adaptive to training of table tennis, tennis, baseball and other balls.
Description
Technical field
The present invention relates to automatic pitching machine.
Background technology
Service robot has become the common tool in the training such as table tennis, tennis, but the service robot occurred in the market in use, just service robot faced by sportsman, and the parameter such as serve speed, angle is all pre-set, sportsman had just known the motion state of ball before ball sends, and the gap of training with real racetrack or true man opponent is very large.When real racetrack or true man opponent train, sportsman probably can judge the motion state of ball according to the position, posture etc. before opponent's service, but accurately cannot judge the motion state of ball, therefore, above-mentioned service robot can not real simulation training or the opponent in competing.
Summary of the invention
The object of the invention is in order to solve existing service robot can not real simulation training or match in opponent, cause the problem of training effect difference, a kind of service method of project automatic kicking apparatus and this device be provided.
Projection automatic kicking apparatus of the present invention comprises host computer, service robot, projecting apparatus, controller, wireless signal transmitting device, wireless signal receiver, lifting platform, horizontal servomotor, servo longitudinal motor, the first drive circuit, the second drive circuit, the 3rd drive circuit, curtain, platform, a slideway and No. two slideways;
Projecting apparatus for video-projection that host computer is play at curtain, the control signal input of the control signal output connection control device of host computer, first control signal output of controller connects the control signal input of wireless signal transmitting device, second control signal output of controller connects the control signal input of the second drive circuit, the control signal output of the second drive circuit connects the control signal input of horizontal servomotor, 3rd control signal output of controller connects the control signal input of the 3rd drive circuit, the control signal output of the 3rd drive circuit connects the control signal input of servo longitudinal motor, wireless signal transmitting device wirelessly carries out Signal transmissions with wireless signal receiver, first control signal output of wireless signal receiver connects the control signal link of the air compressor of service robot, wireless signal receiver second control signal output connect service robot go out bulb control signal link, 3rd control signal output of wireless signal receiver connects the control signal input of the first drive circuit, the control signal output of described first drive circuit connects the control signal link of lifting platform,
Service robot is placed on the upper surface of lifting platform, and lifting platform and curtain are all placed on platform, and slideway is arranged along the left and right directions in place, and No. two slideways are arranged along the fore-and-aft direction in place;
Horizontal servomotor is used for parametric controller and moves along a slideway, and servo longitudinal motor is used for parametric controller and moves along No. two slideways;
Curtain has a gap from top to bottom, the width of this gap is the external diameter bulb mouth of pipe place of service robot, and this mouth of pipe is arranged in described gap;
The inwall going out the mouth of pipe place of bulb is provided with block, and the ultimate range d of this block and described inwall is greater than the diameter of ball, and block is less than the radius of ball with the distance going out bulb central axis.
Described controller is embedded in multiple control module by software simulating, and each control module is corresponding with a video file, and described video file is stored in host computer, and content is sportsman's service, and each control module comprises with lower unit:
Timing unit: the moment of playing from video file starts timing, and at timing time t=t
ishi Qidong serves a ball unit;
T
ifor the moment of i-th service of the sportsman in video, the initial value of i is 1;
Service unit: send service control signal to service robot, ball is sent by service robot; And start serving position control unit, direction of rotation control unit and dynamics control unit after this unit end of run simultaneously;
Serving position control unit: respectively to the motion of horizontal servomotor, servo longitudinal motor and lifting platform, the position of using bulb moves to the position that curtain is served a ball in video next time;
Direction of rotation control unit: send rotation control signal to service robot, use bulb and to turn clockwise angle [alpha] around its central axis along output direction of ball, direction of rotation is corresponding with the posture that sportsman in video serves a ball;
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right; When α=90 degree, the direction of rotation of ball is from top to bottom; When α=180 degree, the direction of rotation of ball is from right to left; When α=270 degree, the direction of rotation of ball is from bottom to top;
Dynamics control unit: send out tolerance control signal to service robot, to make on the dynamics of service and curtain athletic posture in video adapt.
The service method of above-mentioned projection automatic kicking apparatus is:
Host computer plays the video file of sportsman's service, and is presented on curtain by projecting apparatus by video image, meanwhile, sends signal to controller, makes controller select the service process corresponding with described video file, and performs this service process;
Described service process is for coordinating the sportsman in video to control service robot service.
Described service process comprises the following steps:
Timed process: the moment of playing from video file starts timing, and at timing time t=t
ishi Zhihang serves a ball step;
T
ifor the moment of i-th service of the sportsman in video, the initial value of i is 1;
Service step: send service control signal to service robot, ball is sent by service robot; And after this step terminates, perform serving position rate-determining steps, direction of rotation rate-determining steps and dynamics rate-determining steps simultaneously;
Serving position rate-determining steps: respectively to the motion of horizontal servomotor, servo longitudinal motor and lifting platform, the position of using bulb moves to the position that curtain is served a ball in video next time;
Direction of rotation rate-determining steps: send rotation control signal to service robot, use bulb and to turn clockwise angle [alpha] around its central axis along output direction of ball, direction of rotation is corresponding with the posture that sportsman in video serves a ball;
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right; When α=90 degree, the direction of rotation of ball is from top to bottom; When α=180 degree, the direction of rotation of ball is from right to left; When α=270 degree, the direction of rotation of ball is from bottom to top;
Dynamics rate-determining steps: send out tolerance control signal to service robot, to make on the dynamics of service and curtain athletic posture in video adapt.
The service method of projection automatic kicking apparatus of the present invention and this device, projecting apparatus is used for the video file that host computer is play to be projected on curtain, provides a virtual opponent to the sportsman of training; Horizontal servomotor, servo longitudinal motor and lifting platform be used for driving service robot go out bulb and curtain moves upward in X, Y and Z tri-sides; The block going out bulb mouth is used for changing the direction of rotation of ball; Service robot adopts air compressor to realize; Controller is used for controlling the time, position, speed and direction of rotation etc. of service, be specially: control out serving position by the duty controlling horizontal servomotor, servo longitudinal motor and lifting platform, the direction of rotation of ball is controlled by the anglec of rotation controlling bulb, by controlling the duty of air compressor as gas output etc., control serve speed.The service time, go out ball position, serve speed and direction of rotation etc. and be all consistent with the athletic service situation in video.
Because the service method of above-mentioned projection automatic kicking apparatus and this device can opponent that is virtually reality like reality, therefore trainer can be used as the sportsman in video opponent to train, there is provided a training environment very true to nature to trainer, improve training effect.
Accompanying drawing explanation
Fig. 1 is the electrical principle block diagram of projection automatic kicking apparatus of the present invention;
Fig. 2 is the structural representation of the curtain in embodiment one;
Fig. 3 is in embodiment one, goes out the end face structure schematic diagram at the mouth of pipe place of bulb;
Fig. 4 is the cut-away view of Fig. 3 along A-A ' direction, and in figure, arrow represents the direction of motion of ball;
Fig. 5 is the functional flow diagram of the application interface in embodiment one.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 3, Fig. 5 illustrate present embodiment, projection automatic kicking apparatus described in present embodiment, it comprises host computer, service robot 5, projecting apparatus 1, controller 2, wireless signal transmitting device 3, wireless signal receiver 4, lifting platform 6, horizontal servomotor 7, servo longitudinal motor 8, first drive circuit 9, second drive circuit 10, the 3rd drive circuit 11, curtain, platform, a slideway and No. two slideways;
Projecting apparatus 1 for video-projection that host computer is play at curtain, the control signal input of the control signal output connection control device 2 of host computer, first control signal output of controller 2 connects the control signal input of wireless signal transmitting device 3, second control signal output of controller 2 connects the control signal input of the second drive circuit 10, the control signal output of the second drive circuit 10 connects the control signal input of horizontal servomotor 7,3rd control signal output of controller 2 connects the control signal input of the 3rd drive circuit 11, the control signal output of the 3rd drive circuit 11 connects the control signal input of servo longitudinal motor 8, wireless signal transmitting device 3 wirelessly carries out Signal transmissions with wireless signal receiver 4, first control signal output of wireless signal receiver 4 connects the control signal link of the air compressor 5-1 of service robot 5, wireless signal receiver 4 second control signal output connect service robot 5 go out bulb 5-2 control signal link, 3rd control signal output of wireless signal receiver 4 connects the control signal input of the first drive circuit 9, the control signal output of described first drive circuit 9 connects the control signal link of lifting platform 6,
Service robot 5 is placed on the upper surface of lifting platform 6, and lifting platform and curtain are all placed on platform, and slideway is arranged along the left and right directions in place, and No. two slideways are arranged along the fore-and-aft direction in place;
Horizontal servomotor 7 moves along a slideway for parametric controller, and servo longitudinal motor 8 moves along No. two slideways for parametric controller;
Curtain has a gap from top to bottom, the width of this gap is the external diameter bulb 5-2 mouth of pipe place of service robot 5, and this mouth of pipe is arranged in described gap;
The inwall going out the mouth of pipe place of bulb 5-2 is provided with block 5-3, and the ultimate range d of this block 5-3 and described inwall is greater than the diameter of ball, and block 5-3 is less than the radius of ball with the distance going out bulb 5-2 central axis.
Present embodiment adopts air compressor 5-1 to provide the power of service, serve speed is controlled by the air outlet valve controlling air compressor 5-1, the block 5-3 going out bulb 5-2 mouth of pipe place rotates for making ball produce, and the position of block 5-3 is different, and the direction of rotation of ball is also different.
Curtain can move along X, Y and Z tri-directions on court, and described X-direction is the left and right directions in place, and Y-direction is the fore-and-aft direction in place, and Z-direction is above-below direction.Curtain is play the video of sportsman's service, the sportsman for participation training provides a virtual opponent.
Service robot 5 is arranged on the center of half-court with the initial position of curtain, service robot 5 and curtain can move in half place, the range of movement of vertical direction can be arranged on 0-2 rice, the range of movement of X and Y-direction can also expand to the position of about 1 meter outside the venue, namely can serve a ball in certain limit outside field.
All right design ap-plication interface in host computer, as shown in Figure 5, on this application interface, user can select to play different videos, and the corresponding different control program of each video controls service.Place can also be selected, as singles or doubles, then difficulty is selected, comprise elementary, intermediate and senior Three Estate, the serve speed of each grade is respectively 40-80km/h, 80-150km/h and more than 150km/h, service interval is respectively 5-8 second, 3-5 second and 3 seconds, can also carry out office's selection, dish selects and ball is selected.Also can by application interface to one section of new video editing control program, specifically comprise set each ball service time, serving position, go out ball speed, direction of rotation and go out ball angle etc., be provided with rear preservation.
Multiple PLC is comprised in controller 2, be used for controlling service robot 5 to serve a ball, the situation that the time, position, speed, direction, rotational case etc. of each service are all served a ball with sportsman in video is consistent, which provides a virtual training environment out, the sportsman on curtain can be used as real opponents to train.
Detailed description of the invention two: composition graphs 4 illustrates present embodiment, present embodiment is the further restriction to the projection automatic kicking apparatus described in embodiment one, in present embodiment, block 5-3 is provided with many mountain ridge parallel to each other, and this mountain ridge and the axes normal going out bulb 5-2.
In present embodiment, it is protruding that block 5-3 is provided with multiple ridge on the surface going out bulb 5-2 center, as shown in Figure 4, when ball moves to block 5-3 place, can rub with each projection, increase rotary speed.
Detailed description of the invention three: present embodiment is the further restriction to the projection automatic kicking apparatus described in embodiment one, in present embodiment, described controller 2 is embedded in multiple control module by software simulating, each control module is corresponding with a video file, described video file is stored in host computer, content is sportsman's service, and each control module comprises with lower unit:
Timing unit: the moment of playing from video file starts timing, and at timing time t=t
ishi Qidong serves a ball unit;
T
ifor the moment of i-th service of the sportsman in video, the initial value of i is 1;
Service unit: send service control signal to service robot 5, ball is sent by service robot 5; And start serving position control unit, direction of rotation control unit and dynamics control unit after this unit end of run simultaneously;
Serving position control unit: move respectively to horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6, the position of using bulb 5-2 moves to the position that curtain is served a ball in video next time;
Direction of rotation control unit: send rotation control signal to service robot 5, use bulb 5-2 and to turn clockwise angle [alpha] around its central axis along output direction of ball, direction of rotation is corresponding with the posture that sportsman in video serves a ball;
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right; When α=90 degree, the direction of rotation of ball is from top to bottom; When α=180 degree, the direction of rotation of ball is from right to left; When α=270 degree, the direction of rotation of ball is from bottom to top;
Dynamics control unit: send out tolerance control signal to service robot 5, to make on the dynamics of service and curtain athletic posture in video adapt.
Detailed description of the invention four: present embodiment is the service method of the projection automatic kicking apparatus described in embodiment one, the method is: host computer plays the video file of sportsman's service, and by projecting apparatus, video image is presented on curtain, simultaneously, signal is sent to controller 2, make controller 2 select the service process corresponding with described video file, and perform this service process;
Described service process is served a ball to control service robot 5 for coordinating the sportsman in video.
Service method described in present embodiment, compared with the service method of the automatic kicking apparatus of routine, introduces video image, and service process coordinates video image, and the ball that sends and video image are consistent, can Reality simulation training environment.When the sportsman in video serves a ball, controller 2 controls service robot 5 and serves a ball, after service terminates, sportsman in video can move to other positions, at this moment, controller 2 can control horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6 and drive service robot 5 to move, and uses bulb 5-2 and moves to the position of next time serving a ball.Meanwhile, the bulb 5-2 that goes out that controller 2 controls service robot 5 rotates to an angle around its axis, makes the position of block 5-3 consistent with the direction of rotation of the ball sent next time.Before service, controller 2 also will control the duty of air compressor 5-1, to guarantee that the speed of the ball sent is consistent with the serve speed in video next time.
Detailed description of the invention five: present embodiment is the further restriction of the service method to the projection automatic kicking apparatus described in embodiment four, in present embodiment, described service process comprises the following steps:
Timed process: the moment of playing from video file starts timing, and at timing time t=t
ishi Zhihang serves a ball step;
T
ifor the moment of i-th service of the sportsman in video, the initial value of i is 1;
Service step: send service control signal to service robot 5, ball is sent by service robot 5; And after this step terminates, perform serving position rate-determining steps, direction of rotation rate-determining steps and dynamics rate-determining steps simultaneously;
Serving position rate-determining steps: move respectively to horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6, the position of using bulb 5-2 moves to the position that curtain is served a ball in video next time;
Direction of rotation rate-determining steps: send rotation control signal to service robot 5, use bulb 5-2 and to turn clockwise angle [alpha] around its central axis along output direction of ball, direction of rotation is corresponding with the posture that sportsman in video serves a ball;
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right; When α=90 degree, the direction of rotation of ball is from top to bottom; When α=180 degree, the direction of rotation of ball is from right to left; When α=270 degree, the direction of rotation of ball is from bottom to top;
Dynamics rate-determining steps: send out tolerance control signal to service robot 5, to make on the dynamics of service and curtain athletic posture in video adapt.
Detailed description of the invention six: present embodiment is the further restriction of the service method to the projection automatic kicking apparatus described in embodiment four, in present embodiment, can also be further improved service process, the position of using bulb 5-2 remains the position consistency with racket in player hand.
When the sportsman in video serves a ball, controller 2 controls service robot 5 and serves a ball, after service terminates, sportsman in video can move to other positions, at this moment, controller 2 can control horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6 drive service robot 5 to move, the direction of movement is consistent with the athletic moving direction in video and speed with speed, when described sportsman lift arm prepare again serve a ball time, controller 2 can control horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6 move, the position of using bulb 5-2 remains the position consistency with racket in player hand.
Claims (5)
1. project automatic kicking apparatus, it comprises host computer and service robot (5), it is characterized in that: it also comprises projecting apparatus (1), controller (2), wireless signal transmitting device (3), wireless signal receiver (4), lifting platform (6), horizontal servomotor (7), servo longitudinal motor (8), the first drive circuit (9), the second drive circuit (10), the 3rd drive circuit (11), curtain, platform, a slideway and No. two slideways;
Projecting apparatus (1) for video-projection that host computer is play at curtain, the control signal input of control signal output connection control device (2) of host computer, first control signal output of controller (2) connects the control signal input of wireless signal transmitting device (3), second control signal output of controller (2) connects the control signal input of the second drive circuit (10), the control signal output of the second drive circuit (10) connects the control signal input of horizontal servomotor (7), 3rd control signal output of controller (2) connects the control signal input of the 3rd drive circuit (11), the control signal output of the 3rd drive circuit (11) connects the control signal input of servo longitudinal motor (8), wireless signal transmitting device (3) wirelessly carries out Signal transmissions with wireless signal receiver (4), first control signal output of wireless signal receiver (4) connects the control signal link of the air compressor (5-1) of service robot (5), wireless signal receiver (4) second control signal output connect service robot (5) go out bulb (5-2) control signal link, 3rd control signal output of wireless signal receiver (4) connects the control signal input of the first drive circuit (9), the control signal output of described first drive circuit (9) connects the control signal link of lifting platform (6),
Service robot (5) is placed on the upper surface of lifting platform (6), and lifting platform and curtain are all placed on platform, and slideway is arranged along the left and right directions in place, and No. two slideways are arranged along the fore-and-aft direction in place;
Horizontal servomotor (7) is moved along a slideway for parametric controller, and servo longitudinal motor (8) moves along No. two slideways for parametric controller;
Curtain has a gap from top to bottom, the width of this gap is the external diameter bulb (5-2) mouth of pipe place of service robot (5), and this mouth of pipe is arranged in described gap;
The inwall going out the mouth of pipe place of bulb (5-2) is provided with block (5-3), this block (5-3) is greater than the diameter of ball with the ultimate range d of described inwall, and block (5-3) is less than the radius of ball with the distance going out bulb (5-2) central axis.
2. projection automatic kicking apparatus according to claim 1, is characterized in that: block (5-3) is provided with many mountain ridge parallel to each other, and this mountain ridge and the axes normal going out bulb (5-2).
3. projection automatic kicking apparatus according to claim 1, it is characterized in that: described controller (2) is embedded in multiple control module by software simulating, each control module is corresponding with a video file, described video file is stored in host computer, content is sportsman's service, and each control module comprises with lower unit:
Timing unit: the moment of playing from video file starts timing, and at timing time t=t
ishi Qidong serves a ball unit;
T
ifor the moment of i-th service of the sportsman in video, the initial value of i is 1;
Service unit: send service control signal to service robot (5), ball is sent by service robot (5); And start serving position control unit, direction of rotation control unit and dynamics control unit after this unit end of run simultaneously;
Serving position control unit: respectively to the motion of horizontal servomotor (7), servo longitudinal motor (8) and lifting platform (6), the position of using bulb (5-2) moves to the position that curtain is served a ball in video next time;
Direction of rotation control unit: send rotation control signal to service robot (5), use bulb (5-2) and to turn clockwise angle [alpha] around its central axis along output direction of ball, direction of rotation is corresponding with the posture that sportsman in video serves a ball;
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right; When α=90 degree, the direction of rotation of ball is from top to bottom; When α=180 degree, the direction of rotation of ball is from right to left; When α=270 degree, the direction of rotation of ball is from bottom to top;
Dynamics control unit: send out tolerance control signal to service robot (5), to make on the dynamics of service and curtain athletic posture in video adapt.
4. the service method of projection automatic kicking apparatus according to claim 1, is characterized in that:
Host computer plays the video file of sportsman's service, and by projecting apparatus, video image is presented on curtain, meanwhile, send signal to controller (2), make controller (2) select the service process corresponding with described video file, and perform this service process; Described service process is for coordinating the sportsman in video to control service robot (5) service.
5. the service method of projection automatic kicking apparatus according to claim 4, is characterized in that:
Described service process comprises the following steps:
Timed process: the moment of playing from video file starts timing, and at timing time t=t
ishi Zhihang serves a ball step;
T
ifor the moment of i-th service of the sportsman in video, the initial value of i is 1;
Service step: send service control signal to service robot (5), ball is sent by service robot (5); And after this step terminates, perform serving position rate-determining steps, direction of rotation rate-determining steps and dynamics rate-determining steps simultaneously;
Serving position rate-determining steps: respectively to the motion of horizontal servomotor (7), servo longitudinal motor (8) and lifting platform (6), the position of using bulb (5-2) moves to the position that curtain is served a ball in video next time;
Direction of rotation rate-determining steps: send rotation control signal to service robot (5), use bulb (5-2) and to turn clockwise angle [alpha] around its central axis along output direction of ball, direction of rotation is corresponding with the posture that sportsman in video serves a ball;
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right; When α=90 degree, the direction of rotation of ball is from top to bottom; When α=180 degree, the direction of rotation of ball is from right to left; When α=270 degree, the direction of rotation of ball is from bottom to top;
Dynamics rate-determining steps: send out tolerance control signal to service robot (5), to make on the dynamics of service and curtain athletic posture in video adapt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410748906.1A CN104436611B (en) | 2014-12-09 | 2014-12-09 | Projection automatic kicking apparatus and the service method of this device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410748906.1A CN104436611B (en) | 2014-12-09 | 2014-12-09 | Projection automatic kicking apparatus and the service method of this device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104436611A true CN104436611A (en) | 2015-03-25 |
| CN104436611B CN104436611B (en) | 2016-08-31 |
Family
ID=52883833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410748906.1A Active CN104436611B (en) | 2014-12-09 | 2014-12-09 | Projection automatic kicking apparatus and the service method of this device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104436611B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105797346A (en) * | 2016-03-10 | 2016-07-27 | 珠海市研泰电子科技有限公司 | Intelligent ball serving machine control system |
| CN108472537A (en) * | 2015-12-18 | 2018-08-31 | 高尔纵新维度控股有限公司 | Baseball practice device, the sensing device for it and method for sensing, service control method |
| CN108970075A (en) * | 2018-07-30 | 2018-12-11 | 蚌埠惊涛精密机械有限公司 | A kind of table tenning ball servicing machine control device and method based on image |
| WO2018225103A1 (en) | 2017-06-05 | 2018-12-13 | Spedaliere Giuseppe | System for expelling and collecting balls and related operating process |
| CN109429521A (en) * | 2017-07-14 | 2019-03-05 | 因特珀博公司 | Time set |
| CN109481926A (en) * | 2018-10-08 | 2019-03-19 | 张海亭 | A kind of working method of the universal automatic kicking apparatus for tennis training |
| CN114618142A (en) * | 2022-04-22 | 2022-06-14 | 吉林体育学院 | Auxiliary training system and method for table tennis sports |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1342260A (en) * | 1999-03-01 | 2002-03-27 | 普罗拜塔运动器材有限公司 | Pitching system with video display means |
| CN102151399A (en) * | 2010-02-11 | 2011-08-17 | 李敬群 | Computer-controlled table tennis ball serving device |
| GB2491010A (en) * | 2011-05-16 | 2012-11-21 | Dominic Michael Hawksworth | A training device designed to imitate a range of human punches |
| CN202620643U (en) * | 2012-06-19 | 2012-12-26 | 张震 | Three-dimensional movable type table tennis serving machine |
| US20130109510A1 (en) * | 2011-11-01 | 2013-05-02 | Douglas L. Boehner | System and Method to Pitch Fooballs |
| CN204233718U (en) * | 2014-12-09 | 2015-04-01 | 张锐明 | Projection automatic kicking apparatus |
-
2014
- 2014-12-09 CN CN201410748906.1A patent/CN104436611B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1342260A (en) * | 1999-03-01 | 2002-03-27 | 普罗拜塔运动器材有限公司 | Pitching system with video display means |
| CN102151399A (en) * | 2010-02-11 | 2011-08-17 | 李敬群 | Computer-controlled table tennis ball serving device |
| GB2491010A (en) * | 2011-05-16 | 2012-11-21 | Dominic Michael Hawksworth | A training device designed to imitate a range of human punches |
| US20130109510A1 (en) * | 2011-11-01 | 2013-05-02 | Douglas L. Boehner | System and Method to Pitch Fooballs |
| CN202620643U (en) * | 2012-06-19 | 2012-12-26 | 张震 | Three-dimensional movable type table tennis serving machine |
| CN204233718U (en) * | 2014-12-09 | 2015-04-01 | 张锐明 | Projection automatic kicking apparatus |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108472537A (en) * | 2015-12-18 | 2018-08-31 | 高尔纵新维度控股有限公司 | Baseball practice device, the sensing device for it and method for sensing, service control method |
| CN105797346A (en) * | 2016-03-10 | 2016-07-27 | 珠海市研泰电子科技有限公司 | Intelligent ball serving machine control system |
| WO2018225103A1 (en) | 2017-06-05 | 2018-12-13 | Spedaliere Giuseppe | System for expelling and collecting balls and related operating process |
| CN109429521A (en) * | 2017-07-14 | 2019-03-05 | 因特珀博公司 | Time set |
| CN108970075A (en) * | 2018-07-30 | 2018-12-11 | 蚌埠惊涛精密机械有限公司 | A kind of table tenning ball servicing machine control device and method based on image |
| CN109481926A (en) * | 2018-10-08 | 2019-03-19 | 张海亭 | A kind of working method of the universal automatic kicking apparatus for tennis training |
| CN109481926B (en) * | 2018-10-08 | 2020-07-24 | 浙江中超新材料股份有限公司 | Working method of universal automatic serving device for tennis training |
| CN114618142A (en) * | 2022-04-22 | 2022-06-14 | 吉林体育学院 | Auxiliary training system and method for table tennis sports |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104436611B (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104436611A (en) | Projection-type automatic ball serving device and ball serving method thereof | |
| CN102327697B (en) | Projection-type billiard training system and implementation method thereof | |
| CN102200760B (en) | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket | |
| CN203564747U (en) | Volleyball trainer | |
| CN1094376C (en) | System for human trajectory learning | |
| CN102114329B (en) | Virtual golf simulation apparatus and method | |
| KR20170129673A (en) | Sport and game simulation systems with user-specific guidance and training using a dynamic playing surface | |
| JP6524389B2 (en) | System for swinging a golf club from a distance | |
| US8172680B2 (en) | Information processing system for capturing operations, transferring data and performing remote operations | |
| KR101068726B1 (en) | A game control system and methods of screen golf | |
| CN102114330A (en) | Apparatus and method for virtual golf simulation imaging mini map | |
| CN105976432A (en) | Football virtual system | |
| CN102114332A (en) | Apparatus and method for virtual golf simulation imaging sub display and replay display | |
| CN203736821U (en) | Intelligent tennis training device | |
| CN112023373A (en) | Tennis training method based on attitude sensor | |
| CN105107184B (en) | Exercise training method and system, intelligent glasses and exercise trainer | |
| TWI441666B (en) | Virtual reality-based movement training and evaluation system | |
| CN112807649A (en) | Virtual golf simulation method and device based on 5G information transmission | |
| CN204233718U (en) | Projection automatic kicking apparatus | |
| CN209137924U (en) | A kind of ball game capture device | |
| TW201503934A (en) | Terrain simulation system for golf practice | |
| TWI395602B (en) | 3d intellectual tennis ball feeder | |
| CN104258544A (en) | Adjustable simulation golf cup device | |
| CN204193435U (en) | Adjustable simulative golf hole cup device | |
| TW202115530A (en) | Virtual reality batting training system and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20161011 Address after: 150008 Harbin Province, Nangang District, Dacheng street, No. 1, No. Patentee after: Harbin Institute of Physical Education Address before: Room 212, ha sports building, 1 Dacheng street, Nangang District, Heilongjiang, Harbin 150008, China Patentee before: Zhang Ruiming |