CN108525268A - A kind of service robot that can freely control table tennis rotary state - Google Patents
A kind of service robot that can freely control table tennis rotary state Download PDFInfo
- Publication number
- CN108525268A CN108525268A CN201810560820.4A CN201810560820A CN108525268A CN 108525268 A CN108525268 A CN 108525268A CN 201810560820 A CN201810560820 A CN 201810560820A CN 108525268 A CN108525268 A CN 108525268A
- Authority
- CN
- China
- Prior art keywords
- table tennis
- tablet
- rebound
- angle controller
- moving track
- 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
- 238000011084 recovery Methods 0.000 claims description 10
- 239000008188 pellet Substances 0.000 claims description 8
- 229910003460 diamond Inorganic materials 0.000 claims description 6
- 239000010432 diamond Substances 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 235000003283 Pachira macrocarpa Nutrition 0.000 claims 1
- 241001083492 Trapa Species 0.000 claims 1
- 235000014364 Trapa natans Nutrition 0.000 claims 1
- 235000009165 saligot Nutrition 0.000 claims 1
- 238000004364 calculation method Methods 0.000 abstract description 9
- 235000013350 formula milk Nutrition 0.000 description 56
- 238000012549 training Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 6
- 230000014509 gene expression Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 210000004209 hair Anatomy 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000009795 derivation Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
- A63B2069/402—Stationarily-arranged devices for projecting balls or other bodies giving spin
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
A kind of service robot that can freely control table tennis rotary state includes mainly：Table tennis ball-serving device, rebound tablet, control platform.Transmitter is directed at plate center always, can be emitted the table tennis of different rates, and can freely change the direction of the launch by two semicircular tracks；Rebound planar surface even roughness, and dimensional orientation can freely be adjusted by two groups of angle controllers；Control platform includes operation display, built-in microcontroller and electronic circuit, the parameters of target motion of outgoing table tennis are inputted in operation display, microcontroller will calculate it immediately according to built-in formula and correspond to transmitter, tablet in the direction parameter in space and the emission rate value of table tennis, control platform carries out position adjustment to transmitter, tablet according to parameters obtained and emits table tennis with rate calculations value, and sphere occurs to project with preset motion state after non-resilient frictional impact with rebound tablet.The present invention realizes the Function Extension of service robot in spin angle velocity and direction of rotation.
Description
Technical field
The present invention relates to a kind of service robot that can freely control table tennis rotary state, based on sphere in Elasticity with
Non-resilient frictional impact between Rough Flat Plate is theoretical, realizes that the quantitative control of table tennis state, predominantly table tennis are liked
Person and professional athlete, which provide, a kind of can freely control emission rate, the direction of the launch, angular velocity of rotation and direction of rotation
Service robot.
Background technology
For the table tenning ball servicing machine of athletic training purposes, in the market there are many kinds of, the function of general service robot is hair
Penetrate specific direction, the table tennis of specific firing rate.There are purchase table tenning ball servicing machine generation in many sport places, training mechanism etc.
It for the server in table tennis training, is continued to serve by high-frequency, with the reaction speed of train athletes and return of serve ability.
However, rate, the adjustable irrotationality table tennis in direction can only be emitted mostly more advanced multi-functional service robot on the market, it is few
Limited several spiral patterns can be arranged in number service robot.In the sports of real table tennis, sphere is not frank and outspoken, to table tennis
Pang ball imposes different rotating speeds, the different rotation status turned to have become the technical ability that table tennis fan generally grasps, and for
High performance athlete, skilled, precisely reply different motion pattern spiral is even more the key for becoming sports and winning victory.Therefore, only
Irrotationality table tennis can be emitted or only have the service robot of limited spiral pattern there are still very big gap, old-fashioned hairs with reality sports
Ball machine lacks the quantitatively regulating and controlling function to sphere motion state, extremely limited to supplemental training effect.In conclusion one can send out
It is that market is highly desirable to project the table tenning ball servicing machine that spiral and every kinematic parameter all can be controlled freely, either professional
The training of troop or common people's daily exercise are taken exercise, and design, research and development, production all have prodigious realistic meaning.
Invention content
In order to overcome above-mentioned deficiency in the prior art, realize that the spiral for emitting kinematic parameter and freely controlling, simulation are true
Table tennis sports scene, enhancing professional training effect, the present invention, which designs, a kind of can freely control table tennis rotary state
Service robot, feature be based in Elasticity between sphere and Rough Flat Plate non-resilient frictional impact theory.
The present invention realizes that the technical solution that goal of the invention uses is as follows：
A kind of service robot that can freely control table tennis rotary state, which is characterized in that including：Rebound tablet, table tennis hair
Emitter, moving track A, moving track B, round pillar, angle controller C, angle controller D, flat bracket, control platform,
Level angle scale, fixing device；The rebound tablet assumes diamond in shape, the endpoints of two opposite side respectively with angle controller C, angle
Controller D is connected, angle controller C, angle controller D operation under can be rotated around two edges frees；The angle
The both-side ends for spending controller D are seamlessly connected with flat bracket respectively；The bottom end of the flat bracket and the seamless company in device chassis
It connects, supports rebound tablet, angle controller C, angle controller D；The table tennis ball-serving device is installed on semicircular movement
It track A and can be moved freely on moving track A, transmitter is directed toward the center of rebound tablet always；The moving track A's
Lower end is connected with semicircular moving track B and can be moved freely on moving track B, the centers of circle moving track A position always
In the center of rebound tablet；The middle-end of the moving track B is seamless to be mounted on round pillar, and moving track B is located at vertical flat
Face and the center of circle are located at the center of rebound tablet；The bottom end of the circle pillar is seamlessly connected with device chassis；The control platform
It is placed in device inside chassis, passes through microcontroller and circuit control table tennis ball-serving device, moving track A, angle controller C, angle
The mechanical movement of controller D, the operation display that control platform includes are located at device chassis rear；The level angle scale engraving
Upper surface in device chassis forefront, semicircular in shape；The fixing device is fixed on the lower surface of device chassis rearmost, left
Distinguish one in right both sides.
The rebound tablet assumes diamond in shape, and the length of two opposite side is smaller than the inside diameter of semicircular moving track B,
Rebounding, planar surface is coarse, and quality is hard, can bear 100000-1000000 table tennis pellet impact and abrasion or jackknifing does not occur,
Tangential recovery coefficient between rebound tablet and table tennis is recorded in the microcontroller of control platform in advance with normal direction recovery coefficient.Institute
Moving track A, the moving track B stated is the semicircular track of surface markers angle index, and the two center of circle overlaps and is always positioned at
The center of rebound tablet；The moving track B is located in x/y plane, and moving track B middle-ends are seamlessly connected in the top of round pillar
It holds and can not move；Plane passes through z-axis always where the moving track A, and bottom end connect with moving track B and can move
It is moved freely on dynamic rail road B.Angle controller C, the angle controller D can carry out accurately dead axle to the object of connection
Rotation；Front and back one respectively of the angle controller C, is separately connected the short side vertex of rebound tablet, two angle controller C's
Line is always positioned at yz planes, and angle controller C can rotate rebound tablet around the line；The angle controller D
Left and right one respectively, is separately connected the long side vertex of rebound tablet, the line of two angle controller D is overlapped with x-axis always, position
In the surface of moving track B and close to the upper ends moving track B peak, angle controller D can be flat to rebounding around the line
Plate is rotated.It is connected firmly, stablizes between the rebound tablet, angle controller C, angle controller D and flat bracket,
To ensure that rebound tablet will not be subjected to displacement by above structure when table tennis pellet impact.The flat bracket lower end is fixedly connected with dress
Bottom set disk, top set up angle controller D, and positioned inside, which has, connect angle controller C, angle controller D with microcontroller
Circuit；Flat bracket is connected firmly with device chassis, stablizes, and ensures table tennis and rebound plate-impact after-poppet, circuit, angle
Controller is neither deformed upon or is damaged.The control platform includes mainly operation display, circuit, microcontroller；The operation
Screen is for inputting the parameters of target motion；The circuit is by operation display, table tennis ball-serving device, moving track A, angle controller
C, angle controller D is connected on microcontroller；The microcontroller receives the parameter that user inputs from operation display, passes through built-in pass
It is calculated in rebound tablet, the dimensional orientation of table tennis ball-serving device and the formula of table tennis ball-serving device emission rate, according to
The mechanical movement of result of calculation control table tennis ball-serving device, moving track A and angle controller C, angle controller D makes rebound
Tablet reaches the dimensional orientation needed with table tennis ball-serving device, and controls table tennis ball-serving device outgoing table tennis.The level
Angle scale is carved in the upper surface of device chassis forefront, semicircular in shape, for assisting user to demarcate the water of table tennis outgoing
Flat bias angle thetaxz.The fixing device is fixed on the lower surface of device chassis rearmost, each side one, can pass through rotation
Turn screw by service robot integral retaining on court, and sufficiently tight, does not shake when device being made to run.It is controlled
The calculating and control of microcontroller built in platform processed, the angle controller C, angle controller D can be rotating around rebound tablets
Rebound tablet is freely rotated to the dimensional orientation of needs two orthogonal opposite side；The table tennis ball-serving device can be
Moving track A is moved to the spatial position of needs, and the bottom end of moving track A can be moved to the sky of needs on moving track B
Between position, i.e. the whole mechanical movement of table tennis ball-serving device, moving track A can adjust table tennis ball-serving device to arbitrary transmitting
Direction.After the control platform receives the table tennis parameters of target motion pre-entered from operation display, built-in microcontroller will
According to the correlation formula of non-resilient frictional impact calculates rebound tablet and table tennis between sphere and Rough Flat Plate in Elasticity
The rate conditions that the direction parameter and table tennis that transmitter has to comply with initially are emitted；Table tennis ball-serving device, moving track A with
And angle controller C, angle controller D will be according to the table tennis ball-serving device direction parameter (α being calculatedB′,βB'), rebound it is flat
Plate direction parameter (α 'P,β′P), the dimensional orientation of the two is adjusted under the control of microcontroller；Table tennis ball-serving device also exists
Irrotationality table tennis is emitted with speed calculated value v under the control of microcontroller, with rebound tablet non-resilient frictional impact occurs for table tennis
It is projected afterwards with the kinematic parameter pre-entered, the kinematic parameter pre-entered is rate v ', level angle θxz, vertical drift angle
θyz, angular velocity omega ', angular speed direction corner γ.
As shown in Fig. 6, novel service robot includes mainly rebound tablet, table tennis ball-serving device, moving track A, moving rail
Road B, round pillar, angle controller C, angle controller D, flat bracket, control platform, level angle scale and fixed dress
It sets.Rebound tablet and two groups of angle controllers are connected to device chassis by flat bracket, table tennis ball-serving device and two groups
Moving track is connected to device chassis by round pillar.All moveable mechanical device (table tennis ball-serving device, moving tracks
A, angle controller C, angle controller D) all as the microcontroller control built in system.It is put down with coarse based on sphere in Elasticity
The theory of non-resilient frictional impact between plate, the parameters of target motion (rate, exit direction, angular speed, rotation for user preset
Direction), the microcontroller built in system will utilize a series of formula to calculate table tennis ball-serving device and rebound tablet must expire respectively
The initial velocity value that the dimensional orientation and table tennis of foot must satisfy, then table tennis ball-serving device is controlled on moving track A
It moves, the rotation of movement and angle controller C, angle controller D of the bottom ends moving track A on moving track B, makes table tennis
Ball transmitter is in the orientation needed with rebound tablet.Subsequent table tennis is emitted by speed calculated value, with the tablet that rebounds
Non-resilient frictional impact, rate, the direction of motion, angular speed and the direction of rotation that table tennis is emitted after rebound are joined with user preset
Number is consistent.The mechanical movement of table tennis ball-serving device above-mentioned, moving track A and angle controller C, angle controller D is by monolithic
Machine is calculated and is controlled, and is specifically determined by the parameters of target motion inputted.
The rebound tablet assumes diamond in shape, and the length of two opposite side is smaller than the inside diameter of semicircular moving track B,
Rebounding, planar surface is coarse, and quality is hard, can bear 100000-1000000 table tennis pellet impact and abrasion or jackknifing does not occur,
Tangential recovery coefficient between rebound tablet and table tennis is recorded in the microcontroller of control platform in advance with normal direction recovery coefficient.
Moving track A, the moving track B is the semicircular track of surface markers angle index, and the two center of circle overlaps
And it is always positioned at the center of rebound tablet；Moving track B is located in x/y plane, and moving track B middle-ends are seamlessly connected props up in circle
It the top of column and can not move；Plane where moving track A passes through z-axis always, and bottom end connect with moving track B and can be
It is moved freely on moving track B.
Angle controller C, the angle controller D can carry out accurately fixed-axis rotation to the object of connection；Angle
Front and back one respectively of controller C, is separately connected the short side vertex of rebound tablet, the line of two angle controller C is always positioned at
Yz planes, angle controller C can rotate rebound tablet around the line；Angle controller D or so one respectively, respectively
The long side vertex of connection rebound tablet, the line of two angle controller D overlaps with x-axis always, be located at moving track B just on
Side and the close upper ends moving track B peak, angle controller D can rotate rebound tablet around the line.It is described anti-
Play and be connected firmly, stablize between tablet, angle controller C, angle controller D and flat bracket, with ensure rebound tablet by
Above structure will not be subjected to displacement when table tennis pellet impact.
The flat bracket lower end fixed connection apparatus chassis, top set up angle controller D, and positioned inside has angle
The circuit that degree controller C, angle controller D are connect with microcontroller；Flat bracket is connected firmly with device chassis, stablizes, and ensures
Table tennis is neither deformed upon or is damaged with rebound plate-impact after-poppet, circuit, angle controller.
The control platform includes mainly operation display, circuit, microcontroller；Operation display is for inputting target movement ginseng
Number；Operation display, table tennis ball-serving device, moving track A, angle controller C, angle controller D are connected to microcontroller by circuit
On；Microcontroller receives the parameter that user inputs from operation display, passes through the built-in space about rebound tablet, table tennis ball-serving device
The formula of orientation and table tennis ball-serving device emission rate is calculated, according to result of calculation control table tennis ball-serving device, movement
The mechanical movement of track A and angle controller C, angle controller D make rebound tablet reach needs with table tennis ball-serving device
Dimensional orientation, and control table tennis ball-serving device outgoing table tennis.
The level angle scale is carved in the upper surface of device chassis forefront, semicircular in shape, for assisting user
Demarcate the level angle θ of table tennis outgoingxz。
The fixing device is fixed on the lower surface of device chassis rearmost, each side one, can pass through rotation
Turn screw by service robot integral retaining on court, and sufficiently tight, does not shake when device being made to run.
By the calculating and control of microcontroller built in control platform, the angle controller C, angle controller D can divide
Rebound tablet is not freely rotated to the dimensional orientation of needs around rebound two orthogonal opposite side of tablet；The table tennis
Transmitter can be moved to the spatial position of needs in moving track A, and the bottom end of moving track A can be moved up in moving track B
Move to the spatial position of needs, i.e., table tennis ball-serving device, moving track A whole mechanical movement can be by table tennis ball-serving device tune
Whole to the arbitrary direction of the launch.
After the control platform receives the table tennis parameters of target motion pre-entered from operation display, built-in monolithic
Machine will be according to the correlation formula of non-resilient frictional impact calculates rebound tablet and table tennis between sphere and Rough Flat Plate in Elasticity
The rate conditions that the direction parameter and table tennis that pang ball transmitter has to comply with initially are emitted；Table tennis ball-serving device, moving rail
Road A and angle controller C, angle controller D will be according to the table tennis ball-serving device direction parameter (α being calculatedB′,βB'), it is anti-
Play tablet direction parameter (α 'P,β′P), the dimensional orientation of the two is adjusted under the control of microcontroller；Table tennis ball-serving device
Also irrotationality table tennis is emitted with speed calculated value v under microcontroller control, table tennis occurs non-ballistic frottage with rebound tablet and touches
It is projected with the kinematic parameter pre-entered after hitting, the kinematic parameter pre-entered is rate v ', level angle θxz, vertical drift angle
θyz, angular velocity omega ', angular speed direction corner γ.
It is stated below for the feasibility of realization:
The present invention assigns the mechanism principle and public affairs of the specific rotation status of sphere using table tennis and the collision reaction of Rough Flat Plate
Formula derivation is as follows:
In body mechanics, when elastic sphere collides with Rough Flat Plate, since frictional force has instantaneously sphere between the two
Momentum and impulsive moment, momentum by the movement velocity for changing sphere (be parallel to the rate in tablet direction with perpendicular to tablet direction
Rate), impulsive moment will change the rotary speed of sphere.
As shown in Fig. 4, when elastic hollow sphere is collided with irrotationality state with Rough Flat Plate, front and back sphere is collided
Speed meets following formula with angular speed：
v′⊥=e⊥v⊥0 (3)
Wherein, ω ' is the angular speed of sphere after collision, v||0For the rate in sphere parallel flat direction before collision, v '||For collision
The rate in sphere parallel flat direction afterwards, v⊥0For the rate in sphere vertical flat plate direction before collision, v '⊥It hangs down for sphere after collision
The rate in straight tablet direction；R is the radius of table tennis, e||、e⊥Tangential recovery coefficient respectively between table tennis and rebound tablet
With normal direction recovery coefficient；Parameter R, e||、e⊥It needs to be measured and be recorded in microcontroller in advance；Material parameter e||、e⊥By rattling
The decisions such as the smooth degree of ball and tablet, hardness combine the movement increased income to chase after using general high-speed motion picture camera on the market
Track softwareCan be accomplished in a simple measure work (referring to：Chandrasekaran R&Thompson M(2002)
Measurements of the horizontal coefficient of restitution for a superball and
a tennis ball.American Journal of Physics,70(5),482-489)。
Sphere reduces in the rate for being parallel to tablet direction after collision, and obtains angular speed.WhereinIt is incident before collision
The angle in direction and tablet,For the angle of exit direction after collision and tablet.For specific exit direction (Value), knot
Close tangent function definition and formula (2,3) can obtain incident direction (Value) it must satisfy formula：
For being specifically emitted angular velocity omega ' value, the rate that sphere before colliding is parallel to tablet direction can be obtained by formula (1)
v||0It must satisfy formula：
The rate v that can obtain colliding preceding sphere perpendicular to tablet direction by formula (4,5)⊥0It must satisfy formula：
Using formula (2,3,5,6), by the rate v of sphere parallel flat after colliding||' the rate with sphere vertical flat plate after collision
v⊥' can be collided after the movement rate v ' of sphere meet formula：
Therefore, for specific exit velocities v ' values, the angle of exit direction and tablet after being collided by formula (7)
Value meets formula：
The incident rate v that table tennis before colliding can be obtained using formula (5,6) must satisfy formula：
Therefore when non-resilient frictional impact occurs for table tennis irrotationality incidence Rough Flat Plate, if it is desired to which rate is after sphere outgoing
V ', angular speed are ω ', and incident rate need to only be made to meet formula (9), and incident direction meets formula (4,8) with tablet angle.
The above process constitutes the collision system as shown in attached drawing 4,5 in space, realizes that table tennis is emitted rate, rotation for the present invention
The quantitative controllable theoretical foundation of rate.
As shown in Fig. 5, by attached drawing 4 byV, the collision system (including transmitter, tablet) that v ' is determined closes
Space Rotating is carried out in exit direction v ' axis, the arbitrary adjustment in table tennis rotary direction may be implemented；On the other hand, adjustment collision
The arbitrary tune of table tennis exit direction is then realized to keeping v ' axis consistent with the exit direction of needs in the whole position in space of system
It is whole.A kind of service robot that can freely control table tennis rotary state proposed by the present invention, passes through table tennis ball-serving device, semicircle
Moving track A and the mechanical movement of angle controller C, D realize to the quantitatively regulating and controlling of transmitter, planar board space orientation, with
The rotation and direction for realizing above-mentioned collision system change.Table tennis ball-serving device and rebound tablet in apparatus of the present invention will be derived below
Dimensional orientation transformation for mula.
The subsidiary space coordinates of system, the definition of exit direction drift angle and the datail description of apparatus parts, such as attached drawing
1, shown in attached drawing 6：Coordinate origin is located at the central point of rebound tablet, and x-axis is horizontally directed to right along the diamond shape long side of rebound tablet,
Y-axis is directed vertically to ground, and z-axis is horizontally directed to front perpendicular to x-axis, y-axis.
The phy symbol of each spatial parameter is such as given a definition：αBThe corner for being table tennis ball-serving device in x/y plane, regards along z-axis
It is that just, can be controlled by movement of 3 bottom end of moving track on moving track 4, moving rail when adjustment clockwise under angle
Plate center is fixed in the center of circle in road 3 always；βBFor corner of the table tennis ball-serving device in yz planes, the up time under x-axis visual angle
Needle is that just, can be controlled by movement of the transmitter on moving track 3, and transmitter is directed at plate center always when adjustment；
αPIt is that just, can be adjusted by angle controller 6 clockwise under z-axis visual angle for corner of the rebound tablet in x/y plane；
βPIt is that just, can be adjusted by angle controller 7 clockwise under x-axis visual angle for corner of the rebound tablet in yz planes；
α is the integral corner of transmitter, rebound tablet in x/y plane, and β is that the entirety of transmitter, rebound tablet in yz planes turns
Angle, α, β are for adjusting the exit direction of collision system shown in attached drawing 4 to the required exit direction of user.Above-mentioned space ginseng
Number is controlled by the mechanical movement of table tennis ball-serving device, moving track 3, angle controller 6, angle controller 7, specifically
Calculating, adjustment process are as follows：
G1. original state.αP=βP=αB=βB=0, the tablet that rebounds at this time is horizontally situated (in xz planes), table tennis hair
Emitter is located at z-axis and is directed toward origin.At this point, the unit position vector of transmitter is (0,0, -1), it is emitted vector bv′For (0,0,1), put down
Plate unit normal vector is (0,1,0)；
G2. the collision system such as attached drawing 4 is generated.Rebound tablet does not change, and transmitter is adjusted to aB=0,Transmitting
The unit position vector of device becomesIt is emitted vector bv′BecomeWherein space is joined
NumberIt is calculated by formula (4,8)；It is formed and 4 identical collision system structure of attached drawing at this time；
G3. by collision system in yz plane internal rotations.It enablesβP=β, i.e. collision system (containing transmitter, tablet)
In yz plane internal rotation angle betas, projection of the collision system in yz planes is as shown in Fig. 3, at this time the unit position vector of transmitter
BecomeIt is emitted vector bv′BecomeTablet
Unit normal vector becomes (0, cos β, sin β)；
G4. collision system is rotated in x/y plane.Enable αP=αB=α, i.e. collision system (containing transmitter, tablet) are in x/y plane
Internal rotation angle degree α, collision system project as shown in Fig. 2 in x/y plane, and the unit position vector of transmitter becomes at this timeIt is emitted vector bv′Become
Tablet unit normal vector becomes (cos β
sinα,cosβsinα,sinβ)；
During G3-G4, integral corner α, the β of collision system in space are by target exit direction (level angle θxz, it is vertical
Bias angle thetayz) determine, it is specifically shown in G5；
G5. the control of exit direction.As shown in Fig. 1, the outgoing vector b for initially being overlapped with z-axisv′, by it in xz planes
Internal rotation angle degree θxz(process 1, level angle θxzBe defined as exit direction vector project after xz planes with the angle of z-axis), then
In yz plane internal rotation angle, θsyz(process 2, vertical bias angle thetayzBe defined as exit direction vector project after yz planes with z-axis
Angle)；Target is emitted vector b at this timev′It is (- sin θ about the expression formula of level angle and vertical drift anglexz,cosθxzsinθyz,
cosθxzcosθyz), which should be with the outgoing vector b that is derived by G4 linksv′Expression formula
Identical, i.e., each component is proportional：
Therefore, αB、βB、αP、βPCalculation formula be：
The position of transmitter, tablet is calculated and adjusted using formula (10,11,12), you can makes table tennis exit direction and default side
To consistent；
Above-mentioned steps are completed apparatus of the present invention and realize the formula that table tennis rate, the direction of motion, spin angle velocity quantitatively control
It derives, the adjustment formula in table tennis rotary direction will be derived below；
G6. the control in table tennis rotary direction.Table tennis angular velocity vector direction always with incident vector bv, outgoing vector bv′It hangs down
Directly.After completing G5 steps, incident vector bvBig reversed with the unit position vector of transmitter etc., table tennis angular velocity vector direction is：
Two components that angular velocity vector direction can be obtained by formula (13) meet relationship：
I.e. angular velocity vector is always positioned in x/y plane, standard back-english will be generated as α=0, β ＞ 0, as α=0, β ＜ 0
Standard top spin will be generated；
G7. the control of direction of rotation.As shown in Fig. 5, to further realize freely controlling for table tennis rotary direction, such as above
It is described to rotate collision system (containing transmitter, tablet) to change the steering of table tennis about v ' axis, remember system rotation angle
It is γ to spend (i.e. rotation angle of the table tennis angular speed direction vector around exit direction)；Transmitter unit position vector terminal before note rotation
For B, tablet unit normal vector terminal is P；Remember that postrotational transmitter unit position vector terminal is B ', tablet unit normal vector terminal
For P ', above-mentioned 4 points of coordinate expressions in rectangular coordinate system are：
Wherein, αB、βB、αP、βPThe formula (10,11,12) provided by derivation step G5 is calculated；xB、yB、zB、xP、yP、zPPoint
The rectangular co-ordinate of B, P, are calculated by formula (15,16) before Wei not rotating；x′B、y′B、z′B、x′P、y′P、z′PRespectively B ', P '
Rectangular co-ordinate, can be write as α ' by formula (15,16)B、β′B、α′P、β′PExpression formula, that is, be expressed as table tennis ball-serving device with rebound
New space angle is orientated tablet after rotation.Due to transmitter unit position vector terminal B, B ' and tablet unit normal vector terminal P,
P ' carries out identical rotation transformation in space, provides a set of identical computational methods with can merging；
B, P, alphabetical M ' replacements B ', P ' are replaced with alphabetical M.For imaginary investigation point M, about being after v ' axis rotation angles γ
M ', rotation front and rear coordinate meet：
Rotary course point is constant at a distance from axis, that is, meets formula：
The front and back two point distances of rotation meet geometrical relationship with rotation angle：
Wherein,For the vertical range of M point and v ' axis before rotation,For hanging down for M points behind rotation γ angles and v ' axis
Straight distance；dM→M′It is M points at a distance from M '.Solving equations (17,18) can be obtained transmitter, tablet after collision system rotation
Dimensional orientation, specifically follow the steps below solution：
G1. the direction vector b of v ' axis is calculatedv′(kx,ky,kz), i.e. the exit direction of table tennis, by level angle θxz, it is vertical partially
Angle θyzIt determines.The calculating is completed by microcontroller, and built-in formula is as follows：
(kx,ky,kz)=(- sin θxz,cosθxzsinθyz,cosθxzcosθyz) (19)
G2. it is F that note, which investigates point M about the intersection point of v ' axis, and the parameter expression of cartesian component is：
xM-F=kxtM-F,yM-F=kytM-F,zM-F=kztM-F (20)
Wherein tM-FFor undetermined parameter.Since v ' axis is perpendicular to M, F line, that is, meet formula：
(kx,ky,kz)·(xM-kxtM-F,yM-kytM-F,zM-kztM-F)=0 (21)
It solves equation (21) and obtains parameter tM-FValue, the calculating are completed by microcontroller, and built-in formula is as follows：
G3. utilize formula (22) that the vertical range for investigating point M and v ' axis can be calculated, which is completed by microcontroller, interior
It is as follows to set formula：
Formula (17,18) is rewritten as：
Wherein M points and M ' distance dM→M′Meet expression formula：
Wherein, x 'M、y′M、z′MBy two rotation angle αs 'M、β′MIt indicates, sees formula (18,19).It can be seen that in equation group (24)
Two equation equal sign left sides are the constant being calculated using formula (23), the right be about rotation angle α 'M、β′MDominant expression
Formula constitutes two element equations, and numerical solution algorithm is simple, all has in the numerical softwares such as Matlab, Mathematica ready-made
Calculation code, comprehensive g1-g3, is changed to B, P by M, M ' is changed to B ', P ' in the control platform of the present apparatus, after rotation transmitter with
The space angle orientations of tablet 'B、β′B、α′P、β′PIt has been be calculated that, according to the position of both above-mentioned parameter adjustment, and with formula
(9) rate calculations value emits table tennis, will obtain target state after table tennis ball warp plate-impact rebound, and specifically include speed
Rate, the direction of motion, spin angle velocity, direction of rotation.
In summary it derives, a kind of novel service that can freely control table tennis rotary state that the present invention refers to, work
It is as follows with calculating process to make step：
S1, user input the parameters of target motion of table tennis in operation display：Rate v ', angular velocity omega ', level angle θxz, it is perpendicular
Straight bias angle thetayz, angular speed direction corner γ；
S2, microcontroller calculate the 1st wheel location parameter using formula (4,8)：
S3, microcontroller calculate the 2nd wheel location parameter using formula (10,11,12)：α、β、αB、βB、αP、βP；
S4, microcontroller calculate the 3rd wheel location parameter using formula (15)-(25)：α′B、β′B、α′P、β′P；
S5, microcontroller calculate the emission rate v of table tennis ball-serving device using formula (9)；
S6, microcontroller is according to the transmitter direction parameter (α ' being calculatedB,β′B), tablet direction parameter α 'P,β′P), pass through control
Movement, moving track A bottom end movement and angle controller C, angle in moving track B of the transmitter processed in moving track A
The rotation of controller D makes transmitter be in the orientation calculated with tablet；
With the corresponding power emission tablees tennis of rate v, with rebound tablet non-ballistic frottage occurs for S7, microcontroller control transmitter
After collision i.e. with rate v ', angular velocity omega ', level angle ηxz, vertical bias angle thetayz, angular speed direction corner γ motion state
Outgoing；
Above-mentioned steps are the quantitative control for realizing service robot to table tennis items kinematic parameter.
Another object of the present invention is to provide a kind of realize above-mentioned a kind of capable of freely controlling table tennis rotary state
Service robot device, it is characterised in that including rebound tablet, table tennis ball-serving device, moving track A, moving track B, round pillar,
Angle controller C, angle controller D, flat bracket, control platform, level angle scale and fixing device.The rebound is flat
Plate and its two groups of angle controllers are connected to device chassis, the table tennis ball-serving device and two groups of moving tracks by flat bracket
It is connected to device chassis by round pillar.All moveable mechanical device (table tennis ball-serving device, moving track A, angle controls
Device C processed, angle controller D) all as the microcontroller control built in system, pass through and inputs outgoing in the operation display of control platform
The parameters of target motion of ball, device can be emitted the table tennis for meeting required motion state.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the rebound tablet assume diamond in shape,
The length of two opposite side is smaller than the inside diameter of semicircular moving track B, and rebound planar surface is coarse, and quality is hard, energy
It bears 100000-1000000 table tennis pellet impact and abrasion or jackknifing does not occur；The tangential recovery to rebound between tablet and table tennis
Coefficient is measured and is recorded in the microcontroller of control platform with normal direction recovery coefficient in advance；Plate material, thickness without particular/special requirement,
It is eligible.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the table tennis ball-serving device can go out
The table tennis for penetrating different initial velocity, connect with ball feeding device with achieve the purpose that it is continuous, repeatedly emit, transmitter, release dress
No particular/special requirement is set, qualified vendor product all may be used on the market；Table tennis recycling network is can allow in front of transmitter, with convenient
Carry out the collection of table tennis.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, described moving track A, B are label
The semicircular track of angled scale, the two center of circle overlap, and the center of circle is always positioned at the center of rebound tablet；Moving track B is located at
In x/y plane, moving track B middle-ends are fixed on round pillar top and can not move；Plane where moving track A is put down always
In z-axis, bottom end connect with moving track B and can move freely on it row；Table tennis ball-serving device then can be in moving track A
On move freely, and always alignment rebound tablet center；Under microcontroller control, table tennis ball-serving device can be adjusted to arbitrarily
The direction of the launch.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the round pillar are vertically fixed
It is seamlessly connected in device chassis, and with moving track B；It supports table tennis ball-serving device and the spatial movement of moving track A,
And ensure that device can not shake when table tennis transmitting.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the angle controller C, angle control
Device D processed can precisely rotate the object (such as body of rod) of connection, the accurate adjustment circulator of electric motor type and gear type on the market
It can all meet the requirements；Front and back one respectively of angle controller C is separately connected the short side vertex of rebound tablet, two angle controls
The line of device C is always positioned at yz planes, and angle controller C can rotate rebound tablet around the line；Angle controller D
Left and right one respectively, is separately connected the long side vertex of rebound tablet, the line of two angle controller D is overlapped with x-axis always, position
In the surface of moving track B and close to the upper ends moving track B peak；Rebound tablet, angle controller C, angle controller
D, it is connected firmly, stablizes between flat bracket, ensure that rebound tablet will not be subjected to displacement by above structure when table tennis pellet impact.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the lower end of the flat bracket is fixed
Attachment device chassis, top set up angle controller D, and positioned inside connects angle controller C, angle controller D and microcontroller
Circuit；Flat bracket is connected firmly with device chassis, stablizes, and ensures table tennis and rebound plate-impact after-poppet, circuit, control
Device processed neither deforms upon or other damages.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the control platform include mainly
Operation display, electronic circuit, microcontroller；Operation display is for inputting the parameters of target motion；Electronic circuit by operation display, table tennis
Ball transmitter, moving track A, angle controller C, angle controller D are connected to microcontroller；Microcontroller receives user from operator control panel
The parameter of curtain input, by built-in about rebound tablet, the dimensional orientation and table tennis emission rate of table tennis ball-serving device
Formula calculated, and according to result of calculation control table tennis ball-serving device, moving track A and angular rate control unit C, D
Mechanical movement finally manipulates transmitter and emits table tennis with determining rate calculations value.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, level angle scale engraving
Upper surface in device chassis forefront, semicircular in shape, for assisting user to demarcate the level angle of table tennis outgoing.
A kind of above-mentioned service robot device that can freely control table tennis rotary state, the fixing device are fixed on dress
The lower surface of bottom set disk rearmost, the left and right sides distinguish one, service robot integral retaining can rattled by rotary screw
On the playing surface of the table, and it is sufficiently stable, it does not shake when device being made to run.
The present invention is based in Elasticity between sphere and Rough Flat Plate non-resilient frictional impact theoretical formula, providing one kind can
Freely control the service robot of table tennis rotary state model, programmed algorithm and device design, compared with prior art, have with
Lower advantageous effect：
The body kinetic mechanism of present invention combination table tennis and Rough Flat Plate collision process has complete theoretical base
Plinth provides a set of quantitative control methodin about outgoing table tennis state, especially table tennis by the derivation of equation
Technology cavity of the table tenning ball servicing machine field in terms of spiral has been filled up in spin angle velocity and direction of rotation.
A kind of device of service robot that can freely control table tennis rotary state proposed by the present invention, can emit movement
The spiral that parameter freely controls meets market need of the current professional contingent's training with the exercise of common people's daily exercise to spiral service robot
It asks, to simulate realistically table tennis sports scene, enhancing training effect provides technical support.
The device of a kind of service robot that can freely control table tennis rotary state proposed by the present invention, including part all may be used
Facilitate purchase, such as accurate adjustment circulator, rotary screw in market, has good practicability and productibility.
The device of a kind of service robot that can freely control table tennis rotary state proposed by the present invention, in conjunction with microcontroller skill
Art completes target component input, formula is calculated and manipulated with component, and user only need to input the parameters of target motion, device in operation display
Just the table tennis that can calculate, adjust and be emitted the motion state immediately, it is convenient using process, efficiently, it is accurate and facilitate user and
When adjust.
It is ball that modelling proposed by the present invention and programmed algorithm are applicable in shaggy elasticity, therefore with migrating to it
Possibility of his ball game, such as tennis, basketball etc..
Description of the drawings
Fig. 1 is is established rectangular coordinate system in space about service robot system and determines horizontal, vertical drift angle table tennis in the process
The schematic diagram that pang ball exit direction changes in space.In figure, 1 is the change process of level angle, and 2 be the change of vertical drift angle
Process；
Fig. 2 is collision system schematic diagram of lateral projection and related corner meaning in x/y plane；
Fig. 3 is collision system in the projection of yz planar inners and the schematic diagram of related corner meaning；
Fig. 4 is the irrotationality elastic sphere motion state schematic diagram front and back with Rough Flat Plate collision；
Fig. 5 is the schematic diagram that collision system rotates the angles γ around exit direction；
Fig. 6 is the nuclear structure figure of table tenning ball servicing machine of the present invention；
In figure, 1, rebound tablet, 2, table tennis ball-serving device, 3, moving track A, 4, moving track B, 5, round pillar, 6, angle
Controller C, 7, angle controller D, 8, flat bracket, 9, console, 10, level angle scale, 11, fixing device.
Specific implementation mode
Please refer to attached drawing 6, a kind of table tennis hair that can freely control table tennis rotary state that this example provides
Ball machine, by rebound tablet 1, table tennis ball-serving device 2, moving track A3, moving track B4, round pillar 5, angle controller C6,
Angle controller D7, flat bracket 8, control platform 9, level angle scale 10, fixing device 11 form.
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings：
A. user sets service robot to init state by operation display.At this time table tennis ball-serving device 2, moving track A 3,
Angle controller C 6, angle controller D 7 rotation angle be all zero, i.e., table tennis ball-serving device 2, which is located at z-axis and bears, semiaxis and refers to
To the center of rebound tablet 1, moving track A 3 is overlapped with yz planes (perpendicular)；Rebound tablet 1 and xz planes (horizontal plane)
It overlaps；
B. table tennis outgoing side required for user estimates respectively with reference to the angle index ruler of moving track A 3 and level angle scale 10
To vertical bias angle thetayzWith level angle θxz, together with the required outgoing rate v ' of table tennis, angular velocity omega ', angular speed direction
Corner γ passes through operation display input system together；
C. after user verifies and confirms required motion state, service robot system will calculate target state institute according to built-in formula
The dimensional orientation parameter alpha that corresponding rebound tablet 1 need to meet 'P、β′P, dimensional orientation parameter alpha that table tennis ball-serving device 2 need to meetB、
βBAnd the emission rate v that table tennis needs；
D. service robot system controls the short side vertex of rebound tablet 1 using angle controller D 7 by built-in control circuit,
Make to turn to β ' before and after tabletPAngle (yz planes) is controlled the long side vertex of rebound tablet 1 using angle controller C 6, makes tablet
Left-right rotation is to α 'PTable tennis is sent out using mechanical movement of the table tennis ball-serving device 2 on moving track A 3 in angle (x/y plane)
Emitter 2 adjusts in perpendicular (yz planes) to β 'BAngle utilizes machinery of 3 bottom ends moving track A on moving track B 4
Movement adjusts table tennis ball-serving device 2 in x/y plane to α 'BAngle；
E. user opens service pattern by operation display, and subsequent table tennis ball-serving device 2 is rattled with rate calculations value v transmitting irrotationalitys
It is emitted, is embodied in the parameters of target motion after ball, sphere and the central point collision reflection of rebound tablet 1：Exit direction
Meet level angle θxzWith vertical bias angle thetayz, movement rate is v ', angular speed is ω ', angular speed direction corner γ；
F. user can carry out subtle adjustment according to the first outgoing situation of table tennis to the parameters of target motion, and more accurately obtaining needs
The table tennis state wanted.
The present invention by Elasticity between sphere and Rough Flat Plate non-resilient frictional impact theoretical formula, by pushing away
It leads, design and propose a kind of service robot that can freely control table tennis rotary state, including model, programmed algorithm and device are set
Meter, can be with synthesis speed, exit direction, rotary speed, the quantitative controllable table tennis in direction of rotation.Present invention mainly solves old
Formula service robot lacks the quantitatively regulating and controlling function (especially rotary speed and direction of rotation) to sphere motion state, competing with reality
There are larger gap, the problem extremely limited to supplemental training effect, the inventions to be conducive to the sport of public or professional player for skill
Training.
Claims (10)
1. a kind of service robot that can freely control table tennis rotary state, which is characterized in that including：Rebound tablet（1）, table tennis
Ball transmitter（2）, moving track A（3）, moving track B（4）, round pillar（5）, angle controller C（6）, angle controller D
（7）, flat bracket（8）, control platform（9）, level angle scale（10）, fixing device（11）；The rebound tablet（1）In water chestnut
Shape, the endpoints of two opposite side respectively with angle controller C（6）, angle controller D（7）It is connected, in angle controller C（6）、
Angle controller D（7）Operation under can be rotated around two edges frees；The angle controller D（7）Both-side ends difference
With flat bracket（8）It is seamlessly connected；The flat bracket（8）Bottom end and device chassis be seamlessly connected, support rebound tablet
（1）, angle controller C（6）, angle controller D（7）；The table tennis ball-serving device（2）It is installed on semicircular moving track A
（3）And it can be in moving track A（3）On move freely, transmitter be directed toward always rebound tablet（1）Center；The moving rail
Road A（3）Lower end and semicircular moving track B（4）It is connected and can be in moving track B（4）On move freely, moving rail
Road A（3）The center of circle is always positioned at rebound tablet（1）Center；The moving track B（4）Middle-end seamless be mounted on round pillar
（5）On, moving track B（4）Positioned at perpendicular and the center of circle is positioned at rebound tablet（1）Center；The circle pillar（5）Bottom
End is seamlessly connected with device chassis；The control platform（9）It is placed in device inside chassis, is rattled by microcontroller and circuit control
Ball transmitter（2）, moving track A（3）, angle controller C（6）, angle controller D（7）Mechanical movement, control platform（9）
Including operation display be located at device chassis rear；The level angle scale（10）It is carved in the upper table of device chassis forefront
Face, semicircular in shape；The fixing device（11）It is fixed on the lower surface of device chassis rearmost, the left and right sides distinguishes one.
2. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The rebound tablet stated（1）It assumes diamond in shape, the length of two opposite side is smaller than semicircular moving track B（4）Inside diameter, rebound
Tablet（1）Rough surface, quality is hard, can bear 100000-1000000 table tennis pellet impact and abrasion or jackknifing does not occur,
Rebound tablet（1）Tangential recovery coefficient between table tennis is recorded in control platform in advance with normal direction recovery coefficient（9）Monolithic
In machine.
3. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The moving track A stated（3）, moving track B（4）For the semicircular track of surface markers angle index, the two center of circle overlaps and begins
Final position is in rebound tablet（1）Center；The moving track B（4）It is located atxyIn plane, moving track B（4）Middle-end is seamlessly connected
In round pillar（5）Top and can not move；The moving track A（3）Place plane is passed through alwayszAxis, bottom end and shifting
Dynamic rail road B（4）Connection simultaneously can be in moving track B（4）On move freely.
4. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The angle controller C stated（6）, angle controller D（7）Accurately fixed-axis rotation can be carried out to the object of connection；The angle
Controller C（6）Front and back difference one, is separately connected rebound tablet（1）Short side vertex, two angle controller C（6）Line
It is always positioned atyzPlane, angle controller C（6）It can be around the line to the tablet that rebounds（1）It is rotated；The angle controller
D（7）Left and right one respectively, is separately connected rebound tablet（2）Long side vertex, two angle controller D（7）Line always withxOverlapping of axles are located at moving track B（4）Surface and close to moving track B（4）Upper end peak, angle controller D（7）Energy
Enough around the line to the tablet that rebounds（1）It is rotated；The rebound tablet（1）, angle controller C（6）, angle controller D（7）
And flat bracket（8）Between be connected firmly, stablize, to ensure the tablet that rebounds（1）It will not by above structure when table tennis pellet impact
It is subjected to displacement.
5. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The flat bracket stated（8）Lower end fixed connection apparatus chassis, top set up angle controller D（7）, positioned inside has angle control
Device C processed（6）, angle controller D（7）The circuit being connect with microcontroller；Flat bracket（8）It is connected firmly, stablizes with device chassis,
Ensure table tennis and rebound tablet（1）Collision after-poppet, circuit, angle controller are neither deformed upon or are damaged.
6. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The control platform stated（9）Include mainly operation display, circuit, microcontroller；The operation display is for inputting the parameters of target motion；
The circuit is by operation display, table tennis ball-serving device（2）, moving track A（3）, angle controller C（6）, angle controller D（7）
It is connected on microcontroller；The microcontroller receives the parameter that user inputs from operation display, by built-in about rebound tablet
（1）, table tennis ball-serving device（2）Dimensional orientation and table tennis ball-serving device（2）The formula of emission rate is calculated, according to meter
Calculate output control table tennis ball-serving device（2）, moving track A（3）And angle controller C（6）, angle controller D（7）Machinery
Movement makes rebound tablet（1）With table tennis ball-serving device（2）The dimensional orientation needed is reached, and controls table tennis ball-serving device（2）Go out
Penetrate table tennis.
7. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The level angle scale stated（10）, it is carved in the upper surface of device chassis forefront, semicircular in shape, for assisting user to demarcate table tennis
The level angle of pang ball outgoing。
8. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：Institute
The fixing device stated（11）It is fixed on the lower surface of device chassis rearmost, each side one, rotary screw can be passed through
By service robot integral retaining on court, and it is sufficiently tight, it does not shake when device being made to run.
9. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：By
Control platform（9）The calculating and control of built-in microcontroller, the angle controller C（6）, angle controller D（7）It can distinguish
Around rebound tablet（1）Two orthogonal opposite side will rebound tablet（1）It is freely rotated to the dimensional orientation of needs；The table tennis
Pang ball transmitter（2）It can be in moving track A（3）It is moved to the spatial position of needs, moving track A（3）Bottom end can be
Moving track B（4）On be moved to the spatial positions of needs, i.e. table tennis ball-serving device（2）, moving track A（3）Whole machinery fortune
Kinetic energy is enough by table tennis ball-serving device（1）It adjusts to the arbitrary direction of the launch.
10. a kind of service robot that can freely control table tennis rotary state according to claim 1, it is characterised in that：
The control platform（9）After receiving the table tennis parameters of target motion that are pre-entered from operation display, built-in microcontroller is by root
According to the correlation formula of non-resilient frictional impact calculates rebound tablet between sphere and Rough Flat Plate in Elasticity（1）With table tennis
Transmitter（2）The rate conditions that the direction parameter and table tennis having to comply with initially are emitted；Table tennis ball-serving device（2）, it is mobile
Track A（3）And angle controller C（6）, angle controller D（7）It will be according to the table tennis ball-serving device direction parameter being calculated, rebound tablet direction parameter, the dimensional orientation of the two is adjusted under the control of microcontroller；
Table tennis ball-serving device（2）Also with speed calculated value under the control of microcontrollervEmit irrotationality table tennis, table tennis and rebound tablet
（1）It is projected with the kinematic parameter pre-entered after non-resilient frictional impact occurs, the kinematic parameter pre-entered is rate、
Level angle, vertical drift angle, angular speed, angular speed direction corner。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810560820.4A CN108525268B (en) | 2018-06-04 | 2018-06-04 | Can freely control service robot of table tennis rotary state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810560820.4A CN108525268B (en) | 2018-06-04 | 2018-06-04 | Can freely control service robot of table tennis rotary state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108525268A true CN108525268A (en) | 2018-09-14 |
| CN108525268B CN108525268B (en) | 2023-10-31 |
Family
ID=63469562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810560820.4A Active CN108525268B (en) | 2018-06-04 | 2018-06-04 | Can freely control service robot of table tennis rotary state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108525268B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114272590A (en) * | 2021-12-28 | 2022-04-05 | 温州职业技术学院 | Classification device capable of automatically accommodating sports equipment |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3506266A (en) * | 1969-08-18 | 1970-04-14 | James W Wintersteen | Ball target and alternately operated ball projector |
| CN2512472Y (en) * | 2001-10-01 | 2002-09-25 | 湖南郴州通用路桥工程机械厂 | Machine head swing mechanism of table tennis serving device |
| US20080200287A1 (en) * | 2007-01-10 | 2008-08-21 | Pillar Vision Corporation | Trajectory detection and feedfack system for tennis |
| US20080220891A1 (en) * | 2005-08-26 | 2008-09-11 | William Gobush | Method for predicting ball launch conditions |
| US20090011872A1 (en) * | 2005-03-21 | 2009-01-08 | He Zhang | Digitally Controlled, User Programmable and Field Relocatable Table Tennis Robot |
| CN101357264A (en) * | 2007-08-01 | 2009-02-04 | 刘培林 | Simulation ball |
| CN101542294A (en) * | 2006-09-27 | 2009-09-23 | 诺曼·M·林赛 | Methods and systems for identifying the launch positions of descending golf balls |
| CN101833232A (en) * | 2010-04-20 | 2010-09-15 | 浙江大学 | Visual support and match analysis system for ping-pong match and method for running same |
| CN201921424U (en) * | 2008-07-17 | 2011-08-10 | 波特·马丁·莱纳德·卢克 | Portable football rebounding or deflecting training device for |
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| US8079922B1 (en) * | 2010-07-28 | 2011-12-20 | Robert Douglas Paterson | Free-standing table tennis rebound system |
| CN103736265A (en) * | 2013-12-20 | 2014-04-23 | 黄澳祺 | Direction coding positioning method and control device of ball serving machine |
| CN203620217U (en) * | 2013-11-07 | 2014-06-04 | 陕西科技大学 | Automatic tennis serving device |
| RU2013105987A (en) * | 2013-02-12 | 2014-08-20 | Александр Михайлович Пермяков | METHOD FOR SIMULATING A FOOTBALL GAME FOR GAME TRAINING OF FOOTBALL PLAYERS, FOR PLAYING A FOOTBALL KARAOKE AND DIRECT CARRYING OUT OF VIRTUAL FOOTBALL MATCHES AND A DEVICE FOR ITS IMPLEMENTATION |
| KR20150098145A (en) * | 2014-02-19 | 2015-08-27 | 성기수 | Prefabricated table tennis for single adjustable of the distance between the reflecting plate and person |
| CN205683547U (en) * | 2016-06-03 | 2016-11-16 | 浙江海洋大学 | A kind of table tenning ball servicing machine |
| CN205867507U (en) * | 2016-07-07 | 2017-01-11 | 安徽科技学院 | Portable table tennis service exerciser |
| CN106390409A (en) * | 2016-11-17 | 2017-02-15 | 中科新松有限公司 | Ball-hitting method and device for table tennis robot |
| CN207307124U (en) * | 2017-10-26 | 2018-05-04 | 赵尚辉 | Ping-pong ball training device and table tennis training system |
| CN208525771U (en) * | 2018-06-04 | 2019-02-22 | 四川大学 | A kind of service robot that can freely control table tennis rotary state |
-
2018
- 2018-06-04 CN CN201810560820.4A patent/CN108525268B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3506266A (en) * | 1969-08-18 | 1970-04-14 | James W Wintersteen | Ball target and alternately operated ball projector |
| CN2512472Y (en) * | 2001-10-01 | 2002-09-25 | 湖南郴州通用路桥工程机械厂 | Machine head swing mechanism of table tennis serving device |
| US20090011872A1 (en) * | 2005-03-21 | 2009-01-08 | He Zhang | Digitally Controlled, User Programmable and Field Relocatable Table Tennis Robot |
| US20080220891A1 (en) * | 2005-08-26 | 2008-09-11 | William Gobush | Method for predicting ball launch conditions |
| CN101542294A (en) * | 2006-09-27 | 2009-09-23 | 诺曼·M·林赛 | Methods and systems for identifying the launch positions of descending golf balls |
| US20080200287A1 (en) * | 2007-01-10 | 2008-08-21 | Pillar Vision Corporation | Trajectory detection and feedfack system for tennis |
| CN101357264A (en) * | 2007-08-01 | 2009-02-04 | 刘培林 | Simulation ball |
| CN201921424U (en) * | 2008-07-17 | 2011-08-10 | 波特·马丁·莱纳德·卢克 | Portable football rebounding or deflecting training device for |
| CN101833232A (en) * | 2010-04-20 | 2010-09-15 | 浙江大学 | Visual support and match analysis system for ping-pong match and method for running same |
| US8079922B1 (en) * | 2010-07-28 | 2011-12-20 | Robert Douglas Paterson | Free-standing table tennis rebound system |
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| RU2013105987A (en) * | 2013-02-12 | 2014-08-20 | Александр Михайлович Пермяков | METHOD FOR SIMULATING A FOOTBALL GAME FOR GAME TRAINING OF FOOTBALL PLAYERS, FOR PLAYING A FOOTBALL KARAOKE AND DIRECT CARRYING OUT OF VIRTUAL FOOTBALL MATCHES AND A DEVICE FOR ITS IMPLEMENTATION |
| CN203620217U (en) * | 2013-11-07 | 2014-06-04 | 陕西科技大学 | Automatic tennis serving device |
| CN103736265A (en) * | 2013-12-20 | 2014-04-23 | 黄澳祺 | Direction coding positioning method and control device of ball serving machine |
| KR20150098145A (en) * | 2014-02-19 | 2015-08-27 | 성기수 | Prefabricated table tennis for single adjustable of the distance between the reflecting plate and person |
| CN205683547U (en) * | 2016-06-03 | 2016-11-16 | 浙江海洋大学 | A kind of table tenning ball servicing machine |
| CN205867507U (en) * | 2016-07-07 | 2017-01-11 | 安徽科技学院 | Portable table tennis service exerciser |
| CN106390409A (en) * | 2016-11-17 | 2017-02-15 | 中科新松有限公司 | Ball-hitting method and device for table tennis robot |
| CN207307124U (en) * | 2017-10-26 | 2018-05-04 | 赵尚辉 | Ping-pong ball training device and table tennis training system |
| CN208525771U (en) * | 2018-06-04 | 2019-02-22 | 四川大学 | A kind of service robot that can freely control table tennis rotary state |
Non-Patent Citations (3)
| Title |
|---|
| 李旭荣;段敬飞;初秀文;: "基于ADAMS的乒乓球自动发球器的动态仿真设计", 机械, no. 02, pages 53 - 55 * |
| 章逸丰;熊蓉;: "乒乓球机器人的视觉伺服系统", 中国科学:信息科学, no. 09, pages 71 - 85 * |
| 葛云;王磊;隋敏敏;: "乒乓球发球装置的结构设计", 机械, no. 09, pages 69 - 70 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114272590A (en) * | 2021-12-28 | 2022-04-05 | 温州职业技术学院 | Classification device capable of automatically accommodating sports equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108525268B (en) | 2023-10-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2039402B1 (en) | Input instruction device, input instruction method, and dancing simultation system using the input instruction device and method | |
| US11308821B2 (en) | Method and device for analysis of movement of a piece of sports equipment | |
| US8622832B2 (en) | Trajectory detection and feedback system | |
| US10409363B1 (en) | Mixed-reality golf tracking and simulation | |
| CN105898241A (en) | Motion Vision Displaying System And Method | |
| US20070026974A1 (en) | Trajectory detection and feedback system | |
| US10716991B2 (en) | Virtual golf simulation apparatus, method of realizing image for virtual golf, and computing-device-readable recording medium having the same recorded therein | |
| CN101496954B (en) | Game controller and game processing method thereof | |
| KR101068726B1 (en) | A game control system and methods of screen golf | |
| TW201501751A (en) | Motion analysis device | |
| US20220233942A1 (en) | Method and system of replicating ball trajectories using an automated ball throwing machine | |
| JP6583055B2 (en) | Virtual sports simulation device | |
| KR101928246B1 (en) | Billiard game simulator | |
| JP2016047219A (en) | Body motion training support system | |
| KR101904240B1 (en) | screen baseball system | |
| CN208525771U (en) | A kind of service robot that can freely control table tennis rotary state | |
| CN108525268A (en) | A kind of service robot that can freely control table tennis rotary state | |
| US11007424B2 (en) | Virtual golf simulation apparatus, method of realizing image for virtual golf, and computing-device-readable recording medium having the same recorded therein | |
| CN108579080A (en) | The interaction realization method and system of entity racket and virtual ball under mixed reality environment | |
| JP2002331060A (en) | Golf swing simulation method and golf club designing system using the same | |
| TW201016274A (en) | Virtual sports system | |
| JP2003093735A (en) | Game device and information storage medium | |
| US20060270483A1 (en) | Golf swing practice simulator | |
| JP2006175158A (en) | Computer type throw sport simulation apparatus, and computer program thereof | |
| TWI395602B (en) | 3d intellectual tennis ball feeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |