CN105797346A - Intelligent ball serving machine control system - Google Patents

Intelligent ball serving machine control system Download PDF

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Publication number
CN105797346A
CN105797346A CN201610136936.6A CN201610136936A CN105797346A CN 105797346 A CN105797346 A CN 105797346A CN 201610136936 A CN201610136936 A CN 201610136936A CN 105797346 A CN105797346 A CN 105797346A
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CN
China
Prior art keywords
service
processing unit
central processing
ball
module
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.)
Pending
Application number
CN201610136936.6A
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Chinese (zh)
Inventor
曾绍群
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuhai Yantai Electronic Technology Co Ltd
Original Assignee
Zhuhai Yantai Electronic Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhuhai Yantai Electronic Technology Co Ltd filed Critical Zhuhai Yantai Electronic Technology Co Ltd
Priority to CN201610136936.6A priority Critical patent/CN105797346A/en
Publication of CN105797346A publication Critical patent/CN105797346A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills

Abstract

The invention discloses an intelligent ball serving machine control system which comprises a central processing unit, a ball serving driving module, a ball serving position driving module and a ball serving frequency driving module. The central processing unit is electrically connected with the ball serving driving module, the ball serving position driving module and the ball serving frequency driving module, the ball serving driving module comprises a first ball serving driving unit and a second ball serving driving unit which are used for controlling the ball outlet mode and the ball outlet speed of ball serving in a combined mode, the ball serving position driving module comprises a horizontal position driving circuit and a vertical position driving circuit which are used for positioning the horizontal position and the vertical position respectively, and the ball serving frequency driving module is used for controlling the ball serving frequency of the ball serving driving module. According to the intelligent ball serving machine control system, by adopting the first ball serving driving unit, the second ball serving driving unit, the horizontal position driving circuit, the vertical position driving circuit and the ball serving frequency driving module, not only can precise positioning be achieved, but also the ball serving mode and the ball serving frequency can be automatically determined, operation is easy, and the system maintenance complexity is also solved.

Description

A kind of intelligence service robot controls system
Technical field
The present invention relates to service robot technical field, particularly relate to a kind of intelligence service robot and control system.
Background technology
Existing service robot controls system, and service placement controls majority employing and court is divided into several grid point positions, controls placement by the different displacements of horizontal rotor and vertical motor and several photoelectric limit switch.This method causes that the controllable position relative populations in court is fewer, it is impossible to meet the requirement of the accurate drop point of user.Existing service robot controls system remote-controller and adopts wireless single byte coded system to send data, unidirectional transmission data.Press one key service robot action once, it is easy to cause remote controller and service robot data asynchronous.The mode of operation of service robot, speed cannot be seen intuitively, go out the series of parameters such as ball mode, drop point site.Existing service robot control system to mechanical origin, horizontal initial point, vertical initial point installation requirement higher, it is desirable to the comparison of coherence of each service robot is good, thus scheduling and planning is more complicated.
Summary of the invention
The present invention proposes a kind of intelligence service robot and controls system, the problem solving existing service control system service placement inaccuracy, complicated operation.
The technical scheme is that and be achieved in that:
A kind of intelligence service robot controls system, module, serving position is driven to drive module and service frequency to drive module including central processing unit, service, central processing unit drives module, serving position to drive module and service frequency to drive module to electrically connect respectively with service, service drives module to include going out ball mode and going out ball speed of first service driver element and second service driver element, first service driver element and the combination control service of second service driver element;Serving position drives module to include horizontal level drive circuit and upright position drive circuit, horizontal level drive circuit and upright position drive circuit are respectively used to the location of horizontal level and upright position, and service frequency drives module to drive the service frequency of module for controlling service.
Further, first service driver element includes the first motor and the first motor sensor circuit, and the first motor sensor circuit is used for detecting whether the first motor transships, crosses stream, stall, goes out ball.
Further, second service driver element includes the second motor and the second motor sensor circuit, and the second motor sensor circuit is used for detecting whether the second motor transships, crosses stream, stall, goes out ball.
Further, central processing unit is connected to key panel, and key information is sent to central processing unit by key panel, and central processing unit performs corresponding function according to key information.
Further, central processing unit is connected to display screen, and display screen is the self-inspection data of display system when start, show user interface, systemic-function during service, the horizontal level of service, upright position, serve speed, service pattern and service frequency.
Further, central processing unit is connected to storage encrypted circuit, and for storing service data and the position offset data of user setup, storage encrypted circuit adopts bus encryption mode and central processing unit transmission data.
Further, central processing unit is connected to communication interface, separate unit or several system can be connected to computer by EBI or network interface, by special-purpose software transmission service data.
Further, central processing unit is connected to wireless module, point-to-point synchronous transmitting data is realized by the wireless module of the wireless module of remote controller or mobile terminal and system, adopting packet pattern to send service data, packet includes serve speed, goes out ball pattern, switch data, go out ball frequency, horizontal level and upright position.
Further, central processing unit is connected to failure detector circuit, real-time detecting system fault-signal, and after fault-signal being detected, Real-time Feedback is to central processing unit, and central processing unit performs corresponding program.
Further, central processing unit is connected to battery electric quantity control circuit, and battery electric quantity control circuit detects battery electric quantity in real time, prompting power supply when electricity is low, closedown motor.
The beneficial effects of the present invention is: adopt first service driver element and the combination of second service driver element to control going out ball mode and going out ball speed of service, horizontal level drive circuit and upright position drive circuit are respectively used to the location of horizontal level and upright position, service frequency drives module to drive the service frequency of module for controlling service, can either be accurately positioned, service pattern and service frequency can also be automatically determined, simple to operate, also solve the complexity of system maintenance.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the circuit block diagram that the present invention a kind of intelligence service robot controls system.
In figure, 1-central processing unit;2-wireless module;3-key panel;4-display screen;5-protects circuit;6-battery electric quantity control circuit;7-failure detector circuit;8-stores encrypted circuit;9-communication interface;10-first service driver element;11-second service driver element;12-service frequency drives module;13-horizontal level drive circuit;14-upright position drive circuit;15-the first motor;16-the first motor sensor circuit;17-the second motor;18-the second motor sensor circuit;19-frequency motor;20-frequency motor sensor circuit;21-horizontal rotor;The vertical motor of 22-;23-power-supply system.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
As shown in Figure 1, the present invention proposes a kind of intelligence service robot and controls system, shuttlecock can be launched, tennis, table tennis, football, basketball, vollyballs etc. are ball, including central processing unit 1, service drives module, serving position drives module and service frequency to drive module 12, the adopted arm processor that central processing unit 1 is concrete, it is responsible for service robot and controls the information of system, the computing of data, man-machine interaction, display processes, the execution of software program, key panel 3 data process and resolve, wireless module 2 data interaction, each control driving module, feedback processing, communication interface 9 data process transmission.Central processing unit 1 drives module, serving position to drive module and service frequency to drive module 12 to electrically connect respectively with service, service drives module to include going out ball mode and going out ball speed of first service driver element 10 and second service driver element 11, first service driver element 10 and second service driver element 11 combination control service;Serving position drives module to include horizontal level drive circuit 13 and upright position drive circuit 14, horizontal level drive circuit 13 and upright position drive circuit 14 are respectively used to the location of horizontal level and upright position, and service frequency drives module 12 to drive the service frequency of module for controlling service.
First service driver element 10 includes the first motor 15 and the first motor sensor circuit 16, and the first motor sensor circuit 16 is used for detecting whether the first motor 15 transships, crosses stream, stall, goes out ball.Concrete, first service driver element 10 adopts pwm pulse to control the movement velocity of the first motor 15.
Second service driver element 11 includes the second motor 17 and the second motor sensor circuit 18, and the second motor sensor circuit 18 is used for detecting whether the second motor 17 transships, crosses stream, stall, goes out ball.Concrete, second service driver element 11 adopts pwm pulse to control the movement velocity of the second motor 17.
Horizontal level drive circuit 13, horizontal level drive circuit 13 adopts stepping or servo drive circuit, it is achieved being accurately positioned of horizontal level.
Upright position drive circuit 14, upright position drive circuit 14 adopts stepping or servo drive circuit, it is achieved being accurately positioned of upright position.
Central processing unit 1 is connected to key panel 3, and key information is sent to central processing unit 1 by key panel 3, and central processing unit 1 performs corresponding function according to key information.
Central processing unit 1 is connected to display screen 4, and display screen 4 is the self-inspection data of display system when start, show user interface, systemic-function during service, the horizontal level of service, upright position, serve speed, service pattern and service frequency.
Central processing unit 1 is connected to storage encrypted circuit 8, and for storing service data and the position offset data of user setup, storage encrypted circuit 8 adopts bus encryption mode and central processing unit 1 to transmit data.
Central processing unit 1 is connected to communication interface 9, separate unit or several system can be connected to computer by EBI or network interface, by special-purpose software transmission service data.
Central processing unit 1 is connected to wireless module 2, point-to-point synchronous transmitting data is realized by the wireless module 2 of the wireless module 2 of remote controller or mobile terminal and system, adopting packet pattern to send service data, packet includes serve speed, goes out ball pattern, switch data, go out ball frequency, horizontal level and upright position.It is unified, synchronization that do so can ensure that each remote controller or mobile terminal and service robot control the data of system.The wireless module 2 of remote controller or mobile terminal and service robot control the wireless module 2 of system and adopt point-to-point transmission.By selecting radio address to realize remote controller or mobile terminal and the pairing of service robot control system.The data transmission of wireless module 2 adopts cryptographic check mode.
Central processing unit 1 is connected to failure detector circuit 7, real-time detecting system fault-signal, and after fault-signal being detected, Real-time Feedback is to central processing unit 1, and central processing unit 1 performs corresponding program.
Power-supply system 23, power supply needed for responsible offer service robot control system.
Service frequency drives module 12 to include frequency motor 19 and frequency motor sensor circuit 20, and frequency motor sensor circuit 20 is used for detecting whether frequency motor 19 transships, crosses stream, stall, goes out ball.
Central processing unit 1 is connected to battery electric quantity control circuit 6, and battery electric quantity control circuit 6 detects battery electric quantity in real time, prompting power supply when electricity is low, closedown motor.
Workflow: after system electrification, separate unit service robot controls system user can pass through remote controller or mobile terminal to wireless module 2 operation control, multiple stage service robot controls system can be connected to computer by communication interface 9 or network interface, is controlled by the operation of special purpose computer software.Arm processor receives after user operation instruction resolves, control first service driver element 10, second service driver element 11, service frequency drive module 12, horizontal level drive circuit 13, upright position drive circuit 14 cooperate to meet the difference of user and go out the requirement of ball mode, speed, drop point site.
The present invention is based on that arm processor and servo/stepper motor driven are a kind of carries out position and the device of speed Comprehensive Control to intelligence service robot, combines the special control program of exploitation, it is achieved intelligent service robot different mode, friction speed, diverse location go out ball.
It is a kind of speed, position control system that service robot controls system, wireless module 2 or communication interface 9 are sent data by remote controller or mobile terminal by user, after arm processor resolves, perform to serve a ball accordingly function, control flat, upper rotation, lower back-out ball mode by first service driver element 10, the first motor 15 of second service driver element 11 and the combination of the second motor 17 friction speed and go out ball speed, when the first motor 15 speed is equal to the second motor 17 speed, go out ball for flat.It is upper back-out ball when first motor 15 speed is more than the second motor 17 speed.It is lower back-out ball when first motor 15 speed is less than the second motor 17 speed.
Service frequency drives module 12 to control often to go out the interval time of a ball by the movement velocity of frequency motor 19 of serving a ball.By horizontal level drive circuit 13 and upright position drive circuit 14, according to going out placement position XY coordinate, arm processor calculates the number of pulses of horizontal level drive circuit 13 and upright position drive circuit 14 and is handed down to horizontal level drive circuit 13 and upright position drive circuit 14, horizontal rotor 21 and vertical motor 22 and moves thus realizing accurate drop point.Storage encrypted circuit 8 is used for storing and calling some parameters of user setup, go out the data such as ball mode position skew.
Service robot control system job failure circuit detects the duty of each functional module in real time and feeds back to arm processor, and arm processor performs corresponding action according to duty.Electric power detection when electric quantity detecting circuit is powered for battery, electric quantity data passes to arm processor in real time, and arm processor closes partial function the alarm user of service robot according to real-time low charge level.Protection circuit 5 for first service driver element 10, second service driver element 11, service frequency drive module 12, horizontal level drive circuit 13, upright position drive circuit 14 cross stream, overload, short circuit, open circuit etc. protect; detecting foregoing circuit feedback of status to arm processor by each sensor circuit, arm processor is by performing the protection of corresponding pwm pulse or turn-off function after processing judgement.
The service robot of the present invention controls system, horizontal rotor 21 and vertical motor 22 adopt servo or stepper motor, considerably increase former go out the few problem in placement position, the control of horizontal rotor 21 and vertical motor 22 realizes the movement of diverse location distance by pulse number, and court is divided into several horizontal X and vertical Y coordinate points.According to going out spherical coordinates point, calculate horizontal rotor 21 and the number of pulses of vertical motor 22.The quantity of more than 100 times is increased than existing service robot drop point site.Horizontal level and upright position user can electrodeless regulate, and meet the requirement that user's service placement is precisely controlled.
The remote controller of the present invention adopts low-consumption wireless module 2, and wireless data adopts the mode of packet to send, it is ensured that operation is Tong Bu with service robot every time.During the setting service parameter of the present invention, it is possible to send select synchronized transmission or setting complete after send data.
When the control of the present invention is served a ball, the data such as the service placement position of many group user's settings, serve speed, horizontal level, upright position can be stored.Data are not lost after shutdown.User can directly invoke the parameter of setting.
The service robot of the present invention controls system, has mechanical origin position offset functions, and mechanical origin debugging time when effective raising produces, when mechanical origin is provided with deviation, it is possible to the offset functions being controlled system by service robot corrects elimination.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.

Claims (10)

1. an intelligent service robot controls system, it is characterized in that: include central processing unit, service drives module, serving position to drive module and service frequency to drive module, described central processing unit drives module, serving position to drive module and service frequency to drive module to electrically connect respectively with described service, described service drives module to include going out ball mode and going out ball speed of first service driver element and second service driver element, described first service driver element and the combination control service of second service driver element;Described serving position drives module to include horizontal level drive circuit and upright position drive circuit, described horizontal level drive circuit and upright position drive circuit are respectively used to the location of horizontal level and upright position, and described service frequency drives module to drive the service frequency of module for controlling described service.
2. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described first service driver element includes the first motor and the first motor sensor circuit, described first motor sensor circuit is used for detecting whether the first motor transships, crosses stream, stall, goes out ball.
3. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described second service driver element includes the second motor and the second motor sensor circuit, described second motor sensor circuit is used for detecting whether the second motor transships, crosses stream, stall, goes out ball.
4. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described central processing unit is connected to key panel, key information is sent to described central processing unit by described key panel, and described central processing unit performs corresponding function according to key information.
5. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described central processing unit is connected to display screen, described display screen is the self-inspection data of display system when start, user interface, systemic-function is shown, the horizontal level of service, upright position, serve speed, service pattern and service frequency during service.
6. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described central processing unit is connected to storage encrypted circuit, for storing service data and the position offset data of user setup, described storage encrypted circuit adopts bus encryption mode and described central processing unit transmission data.
7. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described central processing unit is connected to communication interface, separate unit or several system can be connected to computer by EBI or network interface, by special-purpose software transmission service data.
8. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described central processing unit is connected to wireless module, point-to-point synchronous transmitting data is realized by the wireless module of the wireless module of remote controller or mobile terminal and system, adopting packet pattern to send service data, described packet includes serve speed, goes out ball pattern, switch data, go out ball frequency, horizontal level and upright position.
9. a kind of intelligence service robot according to claim 1 controls system, it is characterized in that: described central processing unit is connected to failure detector circuit, and real-time detecting system fault-signal, after detecting fault-signal, Real-time Feedback gives described central processing unit, and described central processing unit performs corresponding program.
10. a kind of intelligence service robot according to claim 1 controls system, it is characterised in that: described central processing unit is connected to battery electric quantity control circuit, and described battery electric quantity control circuit detects battery electric quantity in real time, and when electricity is low, prompting is powered, closed motor.
CN201610136936.6A 2016-03-10 2016-03-10 Intelligent ball serving machine control system Pending CN105797346A (en)

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Application Number Priority Date Filing Date Title
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Publications (1)

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CN105797346A true CN105797346A (en) 2016-07-27

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106730721A (en) * 2016-12-15 2017-05-31 英华达(上海)科技有限公司 A kind of automatic service training system and its service method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3738663A (en) * 1971-03-29 1973-06-12 J Gentiluomo Digital controlled golf ball teeing apparatus
CN101579857A (en) * 2008-12-12 2009-11-18 北京理工大学 Automatic ball-picking robot
CN201389322Y (en) * 2009-04-30 2010-01-27 河南科技大学 Pitching machine and a multi-machine pitching system formed thereby
TW201028191A (en) * 2009-01-19 2010-08-01 Nat Univ Chung Hsing Ball placement controlling device and method
CN202438116U (en) * 2012-01-20 2012-09-19 王立学 Tennis ball pitching machine
CN202682730U (en) * 2012-05-12 2013-01-23 厦门锐思达机电科技有限公司 Full-automatic random table tennis serving machine
CN104436611A (en) * 2014-12-09 2015-03-25 张锐明 Projection-type automatic ball serving device and ball serving method thereof

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3738663A (en) * 1971-03-29 1973-06-12 J Gentiluomo Digital controlled golf ball teeing apparatus
CN101579857A (en) * 2008-12-12 2009-11-18 北京理工大学 Automatic ball-picking robot
TW201028191A (en) * 2009-01-19 2010-08-01 Nat Univ Chung Hsing Ball placement controlling device and method
CN201389322Y (en) * 2009-04-30 2010-01-27 河南科技大学 Pitching machine and a multi-machine pitching system formed thereby
CN202438116U (en) * 2012-01-20 2012-09-19 王立学 Tennis ball pitching machine
CN202682730U (en) * 2012-05-12 2013-01-23 厦门锐思达机电科技有限公司 Full-automatic random table tennis serving machine
CN104436611A (en) * 2014-12-09 2015-03-25 张锐明 Projection-type automatic ball serving device and ball serving method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106730721A (en) * 2016-12-15 2017-05-31 英华达(上海)科技有限公司 A kind of automatic service training system and its service method
CN106730721B (en) * 2016-12-15 2019-08-06 英华达(上海)科技有限公司 A kind of automatic service training system and its method of serving a ball

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Application publication date: 20160727