CN108525268B - Can freely control service robot of table tennis rotary state - Google Patents
Can freely control service robot of table tennis rotary state Download PDFInfo
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- CN108525268B CN108525268B CN201810560820.4A CN201810560820A CN108525268B CN 108525268 B CN108525268 B CN 108525268B CN 201810560820 A CN201810560820 A CN 201810560820A CN 108525268 B CN108525268 B CN 108525268B
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- 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
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- 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
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- 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
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Abstract
Can freely control service robot of table tennis rotary state mainly includes: table tennis transmitter, rebound panel and control platform. The emitter is always aligned with the center of the flat plate, so that table tennis balls with different speeds can be emitted, and the emitting direction can be freely changed through the two semicircular tracks; the surface of the rebound flat plate is uniform and rough, and the space orientation of the rebound flat plate can be freely adjusted through two groups of angle controllers; the control platform comprises an operation screen, a built-in singlechip and an electronic circuit, wherein target motion parameters of outgoing table tennis balls are input on the operation screen, the singlechip immediately calculates the azimuth parameters of the corresponding emitter and flat plate in space and the transmission speed value of the table tennis balls according to a built-in formula, the control platform adjusts the positions of the emitter and the flat plate according to the obtained parameters and transmits the table tennis balls according to the calculated speed value, and the ball body and the rebound flat plate are emitted in a preset motion state after inelastic friction collision occurs. The invention realizes the function expansion of the service robot in the spin angular velocity and the rotation direction.
Description
Technical Field
The invention relates to a ball dispenser capable of freely controlling the rotation state of a table tennis, which is based on the inelastic friction collision theory between a sphere and a rough flat plate in elastic mechanics to realize quantitative control of the movement state of the table tennis and mainly provides the ball dispenser capable of freely controlling the launching rate, the launching direction, the rotation angular velocity and the rotation direction for table tennis lovers and professional athletes.
Background
There are many kinds of table tennis ball serving machines for sports training, and the general function of the serving machine is to launch a table tennis ball with a specific direction and a specific speed. Many sports venues, sports training institutions and the like purchase table tennis service machines to replace service players in table tennis training, and train response speed and ball return capability of athletes through high-frequency continuous service. However, even more advanced multifunctional ball serving machines on the market can only emit spin-free table tennis with adjustable speed and direction, and few ball serving machines can set a limited number of spin modes. In real table tennis competition, the ball body is not straight-forward, the rotation state of applying different rotation speeds and different directions to the table tennis is a commonly mastered skill of table tennis lovers, and the skill and accuracy of coping with spin of different movement modes are more keys of competition for high-level athletes. Therefore, a service robot which can only launch a spin-free table tennis or has a limited spin mode still has a great gap from a real competition, and the old service robot lacks a quantitative regulation function on the movement state of a ball body and has a very limited auxiliary training effect. In summary, a table tennis service robot capable of launching spin and freely controlling various motion parameters is extremely needed in the market, and has great practical significance in design, research and development as well as production, whether training of professional teams or daily exercise of people.
Disclosure of Invention
In order to overcome the defects in the prior art, realize the free control of the launching motion parameters, simulate the real table tennis athletic scene and enhance the professional training effect, the invention designs a ball serving machine capable of freely controlling the rotation state of the table tennis, which is characterized in that the ball serving machine is based on the theory of inelastic friction collision between a sphere and a rough plate in elastic mechanics.
The technical scheme adopted for achieving the aim of the invention is as follows:
can freely control service robot of table tennis rotary state, characterized in that includes: rebound flat board, table tennis ball launcher, moving track A, moving track B, circular pillar, angle controller C, angle controller D, flat board bracket, control platform, horizontal angle scale and fixing device; the rebound flat plate is diamond-shaped, the end points of the two opposite sides are respectively connected with the angle controller C and the angle controller D, and the rebound flat plate can freely rotate around the two opposite sides under the operation of the angle controller C and the angle controller D; the tail ends of two sides of the angle controller D are respectively connected with the flat plate bracket in a seamless manner; the bottom end of the flat plate support is in seamless connection with the device chassis, and supports a rebound flat plate, an angle controller C and an angle controller D; the table tennis transmitter is arranged on the semicircular moving track A and can move freely on the moving track A, and the transmitter always points to the center of the rebound flat plate; the lower end of the moving track A is connected with a semicircular moving track B and can move freely on the moving track B, and the circle center of the moving track A is always positioned at the center of the rebound flat plate; the middle end of the moving track B is arranged on the round support in a seamless mode, the moving track B is located on a vertical plane, and the circle center of the moving track B is located at the center of the rebound flat plate; the bottom end of the round pillar is seamlessly connected with the device chassis; the control platform is arranged in the chassis of the device, and controls the mechanical movement of the table tennis ball emitter, the moving track A, the angle controller C and the angle controller D through the singlechip and the circuit, and an operation screen contained in the control platform is positioned behind the chassis of the device; the horizontal angle scale is carved on the forefront upper surface of the device chassis and is semicircular; the fixing device is fixed on the lower surface of the rearmost part of the device chassis, and the left side and the right side are respectively one.
The rebound flat plate is diamond-shaped, the lengths of two opposite sides are smaller than the inner side diameter of the semicircular moving track B, the rebound flat plate is rough in surface and hard in texture, can bear 100000-1000000 times of table tennis impact and is free from abrasion or fracture, and the tangential recovery coefficient and the normal recovery coefficient between the rebound flat plate and the table tennis are recorded in a singlechip of the control platform in advance. The moving track A and the moving track B are semicircular tracks with angle scales marked on the surfaces, and the circle centers of the moving track A and the moving track B are coincident and are always positioned at the center of the rebound flat plate; the moving track B is positioned in the xy plane, and the middle end of the moving track B is seamlessly connected to the top end of the circular support and cannot move; the plane where the moving track A is located always passes through the z axis, and the bottom end of the moving track A is connected with the moving track B and can move freely on the moving track B. The angle controller C and the angle controller D can accurately fix the axis of rotation of the connected objects; said angleThe angle controllers C are respectively connected with the top points of the short sides of the rebound flat plate, the connecting lines of the two angle controllers C are always positioned on the yz plane, and the angle controllers C can rotate the rebound flat plate around the connecting lines; the left and right angle controllers D are respectively connected with the long-side vertexes of the rebound flat plate, the connecting line of the two angle controllers D is always coincident with the x axis and is positioned right above the moving track B and is close to the highest point at the upper end of the moving track B, and the angle controllers D can rotate the rebound flat plate around the connecting line. The rebound flat plate, the angle controller C, the angle controller D and the flat plate bracket are firmly and stably connected, so that the rebound flat plate cannot be displaced when being impacted by table tennis. The lower end of the flat plate bracket is connected with a chassis of the device, the top end is provided with an angle controller D, and a circuit for connecting the angle controller C and the angle controller D with the singlechip is arranged in the flat plate bracket; the flat support is firmly and stably connected with the chassis of the device, so that the support, the circuit and the angle controller are prevented from deformation or damage after the table tennis collides with the rebound flat plate. The control platform mainly comprises an operation screen, a circuit and a singlechip; the operation screen is used for inputting target motion parameters; the circuit connects the operation screen, the table tennis ball transmitter, the moving track A, the angle controller C and the angle controller D to the singlechip; the singlechip receives parameters input by a user from an operation screen, calculates through a formula which is internally arranged about the space orientation of the rebound flat plate and the table tennis transmitter and the transmitting speed of the table tennis transmitter, controls the table tennis transmitter, the moving track A, the angle controller C and the angle controller D to enable the rebound flat plate and the table tennis transmitter to reach the required space orientation according to the calculated result, and controls the table tennis transmitter to emit table tennis. The horizontal angle scale is carved on the forefront upper surface of the device chassis and is semicircular and used for assisting a user in calibrating the horizontal deflection angle theta of table tennis outgoing xz . The fixing device is fixed on the lower surface of the rearmost part of the device chassis, one of the left side and the right side respectively, and the whole service robot can be clamped on a table tennis table surface through rotating screws and is firm enough, so that the device does not shake during operation. Calculation and control of built-in singlechip of control platformThe angle controller C and the angle controller D can respectively rotate the rebound plate to a required space orientation around two opposite sides of the rebound plate, which are perpendicular to each other; the table tennis transmitter can move to a required space position on the moving track A, the bottom end of the moving track A can move to a required space position on the moving track B, namely, the whole mechanical movement of the table tennis transmitter and the moving track A can adjust the table tennis transmitter to any transmitting direction. After the control platform receives the table tennis target motion parameters input in advance from the operation screen, the built-in singlechip calculates azimuth parameters which the rebound flat plate and the table tennis transmitter must conform to and the initial emergent speed condition of the table tennis according to a related formula of inelastic friction collision between the sphere and the rough flat plate in elastic mechanics; the table tennis transmitter, the moving track A and the angle controllers C and D are used for calculating the azimuth parameters (alpha) of the table tennis transmitter B ′,β B ') and rebound plate orientation parameter (α' P ,β′ P ) The space orientation of the two is adjusted under the control of the singlechip; the table tennis ball launcher launches the spin-free table tennis ball with the speed calculated value v under the control of the singlechip, and the table tennis ball is launched with the pre-input motion parameters after the non-elastic friction collision between the table tennis ball and the rebound flat plate, wherein the pre-input motion parameters are the speed v' and the horizontal deflection angle theta xz Vertical deflection angle theta yz Angular velocity ω', angular velocity direction rotation angle γ.
As shown in fig. 6, the novel ball dispenser mainly comprises a rebound flat plate, a table tennis ball transmitter, a moving track a, a moving track B, a round pillar, an angle controller C, an angle controller D, a flat plate bracket, a control platform, a horizontal angle scale and a fixing device. The rebound plate and the two groups of angle controllers are connected to the device chassis through a plate bracket, and the table tennis transmitter and the two groups of moving rails are connected to the device chassis through circular support posts. All movable mechanical devices (the table tennis ball emitter, the moving track A, the angle controller C and the angle controller D) are controlled by a singlechip built in the system. Based on the theory of inelastic friction collision between the ball and the rough flat plate in elastic mechanics, for target motion parameters (speed, emergent direction, angular speed and rotating direction) preset by a user, a single chip microcomputer arranged in the system calculates the space orientation which must be met by the table tennis transmitter and the rebound flat plate respectively and the initial speed value which must be met by the table tennis, and then controls the motion of the table tennis transmitter on the moving track A, the motion of the bottom end of the moving track A on the moving track B and the rotation of the angle controller C and the angle controller D, so that the table tennis transmitter and the rebound flat plate are positioned in the required orientation. And then the table tennis is launched according to a speed calculation value, inelastic friction collision is generated between the table tennis and the rebound flat plate, and the speed, the movement direction, the angular speed and the rotation direction of the table tennis after rebound are consistent with the preset parameters of a user. The mechanical movements of the table tennis ball transmitter, the moving track A, the angle controller C and the angle controller D are calculated and controlled by a singlechip, and are specifically determined by input target movement parameters.
The rebound flat plate is diamond-shaped, the lengths of two opposite sides are smaller than the inner side diameter of the semicircular moving track B, the rebound flat plate is rough in surface and hard in texture, can bear 100000-1000000 times of table tennis impact and is free from abrasion or fracture, and the tangential recovery coefficient and the normal recovery coefficient between the rebound flat plate and the table tennis are recorded in a singlechip of the control platform in advance.
The moving track A and the moving track B are semicircular tracks with angle scales marked on the surfaces, and the circle centers of the moving track A and the moving track B are coincident and are always positioned at the center of the rebound flat plate; the middle end of the moving track B is seamlessly connected to the top end of the round pillar and cannot move; the plane where the moving track A is located always passes through the z axis, and the bottom end of the moving track A is connected with the moving track B and can freely move on the moving track B.
The angle controller C and the angle controller D can accurately fix the axis of rotation of the connected objects; the angle controllers C are respectively connected with the vertexes of the short sides of the rebound flat plate at the front and the rear, the connecting lines of the two angle controllers C are always positioned on the yz plane, and the angle controllers C can rotate the rebound flat plate around the connecting lines; the left and right angle controllers D are respectively connected with the long-side vertexes of the rebound flat plate, the connecting line of the two angle controllers D is always coincident with the x axis and is positioned right above the moving track B and is close to the highest point at the upper end of the moving track B, and the angle controllers D can rotate the rebound flat plate around the connecting line. The rebound flat plate, the angle controller C, the angle controller D and the flat plate bracket are firmly and stably connected, so that the rebound flat plate cannot be displaced when being impacted by table tennis.
The lower end of the flat plate bracket is connected with a chassis of the device, the top end is provided with an angle controller D, and a circuit for connecting the angle controller C and the angle controller D with the singlechip is arranged in the flat plate bracket; the flat support is firmly and stably connected with the chassis of the device, so that the support, the circuit and the angle controller are prevented from deformation or damage after the table tennis collides with the rebound flat plate.
The control platform mainly comprises an operation screen, a circuit and a singlechip; the operation screen is used for inputting target motion parameters; the circuit connects the operation screen, the table tennis ball transmitter, the moving track A, the angle controller C and the angle controller D to the singlechip; the singlechip receives parameters input by a user from an operation screen, calculates through a formula which is internally arranged about the space orientation of the rebound flat plate and the table tennis transmitter and the transmitting speed of the table tennis transmitter, controls the table tennis transmitter, the moving track A, the angle controller C and the angle controller D to enable the rebound flat plate and the table tennis transmitter to reach the required space orientation according to the calculated results, and controls the table tennis transmitter to emit table tennis.
The horizontal angle scale is carved on the forefront upper surface of the device chassis and is semicircular and used for assisting a user in calibrating the horizontal deflection angle theta of table tennis outgoing xz 。
The fixing device is fixed on the lower surface of the rearmost part of the device chassis, one of the left side and the right side respectively, and the whole service robot can be clamped on a table tennis table surface through rotating screws and is firm enough, so that the device does not shake during operation.
Calculating and controlling by a singlechip arranged in the control platform, wherein the angle controller C and the angle controller D can respectively rotate the rebound flat plate to a required space orientation around two opposite sides of the rebound flat plate, which are perpendicular to each other; the table tennis transmitter can move to a required space position on the moving track A, the bottom end of the moving track A can move to a required space position on the moving track B, namely, the whole mechanical movement of the table tennis transmitter and the moving track A can adjust the table tennis transmitter to any transmitting direction.
After the control platform receives the table tennis target motion parameters input in advance from the operation screen, the built-in singlechip calculates azimuth parameters which the rebound flat plate and the table tennis transmitter must conform to and the initial emergent speed condition of the table tennis according to a related formula of inelastic friction collision between the sphere and the rough flat plate in elastic mechanics; the table tennis transmitter, the moving track A and the angle controllers C and D are used for calculating the azimuth parameters (alpha) of the table tennis transmitter B ′,β B ') and rebound plate orientation parameter (α' P ,β′ P ) The space orientation of the two is adjusted under the control of the singlechip; the table tennis transmitter also transmits the spin-free table tennis under the control of the singlechip according to the speed calculated value v, and the table tennis is transmitted by pre-input motion parameters after the table tennis collides with the rebound flat plate in an inelastic friction way, wherein the pre-input motion parameters are the speed v' and the horizontal deflection angle theta xz Vertical deflection angle theta yz Angular velocity ω', angular velocity direction rotation angle γ.
The feasibility of the implementation is described below:
the invention relates to a mechanism principle and formula deduction process for endowing a sphere with a specific rotation state by utilizing collision rebound of a table tennis ball and a rough flat plate, wherein the mechanism principle and formula deduction process is as follows:
in the elastomer mechanics, when an elastic sphere collides with a rough flat plate, the friction force between the elastic sphere and the rough flat plate has instantaneous impulse and impulse moment on the sphere, the impulse changes the movement speed (the speed parallel to the flat plate direction and the speed perpendicular to the flat plate direction) of the sphere, and the impulse moment changes the rotation speed of the sphere.
As shown in fig. 4, when the elastic hollow sphere collides with the rough plate in a non-rotating state, the speed and angular speed of the sphere before and after collision satisfy the following formula:
v′ ⊥ ＝e ⊥ v ⊥0 (3)
wherein ω' is the angular velocity of the sphere after collision, v ||0 For the velocity of the sphere parallel to the plate direction before collision, v' || For the velocity of the sphere parallel to the plate direction after collision v ⊥0 For the velocity of the sphere in the direction perpendicular to the plate before collision, v' ⊥ The velocity of the sphere in the direction perpendicular to the flat plate after collision; r is the radius of the table tennis ball, e || 、e ⊥ The tangential recovery coefficient and the normal recovery coefficient between the table tennis ball and the rebound plate are respectively; parameters R, e || 、e ⊥ The measurement is needed in advance and recorded in the singlechip; material parameter e || 、e ⊥ Is determined by the smoothness, hardness and the like of table tennis balls and flat plates, and utilizes common high-speed cameras on the market in combination with open-source motion tracking softwareThe measurement can be simply performed (see: 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)。
The velocity of the sphere decreases in a direction parallel to the plate after collision and an angular velocity is obtained. Wherein the method comprises the steps ofIs the angle between the incident direction and the flat plate before collision, +.>Is the included angle between the emergent direction and the flat plate after collision. For a specific exit direction (+)>Value), the incident direction (/ -in) can be obtained in combination with the definition of the tangent function and the formula (2, 3)>Value) must satisfy the formula:
for a particular value of the exit angular velocity ω', the velocity v of the sphere parallel to the plate direction before collision can be obtained from equation (1) ||0 The formula must be satisfied:
from the formulae (4, 5), the velocity v of the sphere perpendicular to the plate before collision can be obtained ⊥0 The formula must be satisfied:
by using (2, 3,5, 6), the velocity v of the sphere parallel plate after collision || ' velocity v of sphere vertical plate after collision ⊥ 'the velocity v' of the sphere after collision can be found to satisfy the formula:
therefore, for a specific value of the exit velocity v', the angle between the exit direction and the flat plate after collision can be obtained from the formula (7)The values satisfy the formula:
the incidence rate v of the table tennis ball before collision can be obtained by using the formulas (5 and 6) and the formula must be satisfied:
therefore, when the table tennis ball is in non-elastic friction collision with the rough plate, if the emergent speed of the ball is v 'and the angular speed is omega', the incident speed is required to meet the formula (9), and the included angle between the incident direction and the plate is required to meet the formulas (4 and 8). The above process forms a collision system in space as shown in figures 4 and 5, and is a theoretical basis for realizing quantitative and controllable table tennis exit speed and rotation speed.
As shown in FIG. 5, the flow chart of FIG. 4 is shown as followsThe collision system (comprising a transmitter and a flat plate) determined by v and v 'spatially rotates about the v' axis of the emergent direction, so that the rotation direction of the table tennis can be arbitrarily adjusted; on the other hand, the position of the whole collision system in space is adjusted to enable the v' axis to be consistent with the required emergent direction, so that the random adjustment of the emergent direction of the table tennis is realized. According to the ball dispenser capable of freely controlling the rotation state of the table tennis, quantitative regulation and control of the space orientations of the transmitter and the flat plate are achieved through the mechanical movements of the table tennis transmitter, the semicircular moving track A and the angle controller C, D, so that rotation and direction change of the collision system are achieved. The following will derive the formula for the spatial orientation of the table tennis transmitter and rebound board in the apparatus of the present invention.
The space coordinate system attached to the system, the definition of the deflection angle of the emergent direction and the detailed description of the parts of the device are shown in the accompanying figures 1 and 6: the origin of coordinates is located at the center point of the rebound board, the x-axis horizontally points to the right along the rhombic long side of the rebound board, the y-axis vertically points to the ground, and the z-axis horizontally points to the front perpendicular to the x-axis and the y-axis.
The physical sign of each spatial parameter is defined as follows: alpha B The rotation angle of the table tennis transmitter in the xy plane is clockwise positive along the z-axis visual angle, the rotation angle can be controlled by the movement of the bottom end of the moving track 3 on the moving track 4, and the circle center of the moving track 3 is always fixed at the center of the flat plate; beta B The rotation angle of the table tennis transmitter in the yz plane is clockwise positive along the x-axis visual angle, the rotation angle can be controlled by the movement of the transmitter on the moving track 3, and the transmitter is always aligned to the center of the flat plate during adjustment; alpha P For bouncing the corner of the flat plate in the xy plane, the angle of view along the z axis is clockwise positive and can be adjusted by the angle controller 6; beta P For bouncing the corner of the flat plate in the yz plane, the angle of view along the x-axis is clockwise positive, and the angle can be adjusted by the angle controller 7; alpha is the integral rotation angle of the emitter and the rebound plate in the xy plane, beta is the integral rotation angle of the emitter and the rebound plate in the yz plane, and alpha and beta are used for adjusting the emergent direction of the collision system shown in figure 4 to the emergent direction required by a user. The above space parameters are controlled by the mechanical movements of the table tennis transmitter, the moving track 3, the angle controller 6 and the angle controller 7, and the specific calculation and adjustment processes are as follows:
G1. An initial state. Alpha P ＝β P ＝α B ＝β B =0, when the rebound plate is in the horizontal position (xz plane), the table tennis transmitter is in the z-axis and pointing towards the origin. At this time, the unit bit vector of the emitter is (0, -1), and the emission vector b v′ A (0, 1), and a flat plate unit normal vector of (0, 1, 0);
G2. resulting in a collision system as in fig. 4. The rebound plate is unchanged, and the emitter is adjusted to a B ＝0、The unit bit vector of the transmitter becomes +.>Emission vector b v′ Become->Wherein spatial parameters->Calculated by formulas (4, 8); the collision system structure is exactly the same as that of fig. 4;
G3. the collision system is rotated in the yz plane. Order theβ P Beta, i.e. the rotation angle beta of the collision system (with emitter, plate) in the yz plane, the projection of the collision system in the yz plane is shown in fig. 3, where the unit bit vector of the emitter becomes +.>Emission vector b v′ Become->The unit normal vector of the plate becomes (0, cos beta, sin beta);
G4. the collision system is rotated in the xy plane. Let alpha P ＝α B α, i.e. the angle of rotation α of the collision system (with emitter, plate) in the xy plane, the projection of the collision system in the xy plane being as shown in fig. 2, the unit bit vector of the emitter then becomesEmission vector b v′ Becomes as followsThe unit normal vector of the plate is changed into (cos beta sin alpha, sin beta);
In the process of G3-G4, the integral rotation angles alpha and beta of the collision system in space are determined by the emergent direction of the target (horizontal deflection angle theta xz Vertical deflection angle theta yz ) Determining, see G5 in particular;
G5. and (5) controlling the emergent direction. As shown in fig. 1, for an exit vector b that initially coincides with the z-axis v′ Rotating it by an angle theta in xz plane xz (Process 1, horizontal offset angle θ xz Defined as the angle between the outgoing direction vector projected on the xz plane and the z axis), and then rotating by an angle theta in the yz plane yz (Process 2, vertical offset angle θ yz The angle between the emergent direction vector projected on the yz plane and the z axis is defined as the following angle; at this time, the target emission vector b v′ The expression for horizontal and vertical declination is (-sin theta) xz ,cosθ xz sinθ yz ,cosθ xz cosθ yz ) The expression should be matched with the derived exit vector b in the G4 segment v′ Expression typeIdentical, i.e. the components are proportional:
thus, alpha B 、β B 、α P 、β P The calculation formula of (2) is as follows:
calculating and adjusting the positions of the emitter and the flat plate by using the components (10, 11 and 12), so that the emergent direction of the table tennis is consistent with the preset direction;
the above steps are completed, the device of the invention realizes the formula deduction of the quantitative control of the table tennis speed, the movement direction and the spin angular velocity, and the following formula for adjusting the rotation direction of the table tennis is deduced;
G6. and controlling the rotation direction of the table tennis ball. The direction of the table tennis angular velocity vector is always equal to the incident vector b v Emission vector b v′ Perpendicular. After step G5 is completed, incident vector b v Equal and opposite to the unit bit vector of the transmitter, the table tennis angular velocity vectorThe direction is:
the two components of the angular velocity vector direction obtainable by equation (13) satisfy the relationship:
i.e. the angular velocity vector always lies in the xy plane, which will produce a standard spin when α=0, β > 0, and a standard spin when α=0, β < 0;
G7. and controlling the rotation direction. As shown in fig. 5, to further realize the free control of the rotation direction of the table tennis ball, the collision system (including the emitter and the flat plate) rotates around the v' axis to change the rotation direction of the table tennis ball, and the rotation angle of the system (namely, the rotation angle of the table tennis ball angular velocity direction vector around the ejection direction) is recorded as gamma; the unit bit vector end point of the emitter before rotation is recorded as B, and the unit normal vector end point of the flat plate is recorded as P; the end point of the unit bit vector of the transmitter after rotation is recorded as B ', the end point of the unit normal vector of the flat plate is recorded as P', and the coordinate expression of the four points in a rectangular coordinate system is as follows:
wherein alpha is B 、β B 、α P 、β P Calculated from the formulas (10, 11, 12) provided in the deriving step G5; x is x B 、y B 、z B 、x P 、y P 、z P Rectangular coordinates of B, P before rotation are calculated by formulas (15 and 16); x's' B 、y′ B 、z′ B 、x′ P 、y′ P 、z′ P Rectangular coordinates of B 'and P' respectively, which can be written as alpha 'according to formulas (15, 16)' B 、β′ B 、α′ P 、β′ P Expressed as a new spatial angular orientation of the table tennis transmitter and rebound board after rotation. Since the emitter unit bit vector end point B, B 'and the plate unit normal vector end point P, P' perform the same rotation transformation in space, a set of the same calculation methods can be given in combination;
b, P is replaced with the letter M ' and B ', P '. For an imaginary investigation point M, which is rotated by an angle γ about the v 'axis and then by M', the coordinates before and after rotation satisfy:
the distance between the rotation process point and the shaft is unchanged, namely the formula is satisfied:
the distance between the two points before and after rotation and the rotation angle satisfy the geometric relationship:
wherein,,for the vertical distance between the M point and the v' axis before rotation, < >>The vertical distance between the M point and the v' axis after rotating the gamma angle; d, d M→M′ Is the distance between the M point and the M' point. Solving the equation sets (17, 18) to obtain the space orientation of the emitter and the flat plate after the collision system rotates, and solving the space orientation according to the following steps:
g1. calculating the direction vector b of the v' axis v′ (k x ,k y ,k z ) I.e. the emergent direction of the table tennis ball is defined by the horizontal deflection angle theta xz Vertical deflection angle theta yz And (5) determining. The calculation is completed by a singlechip, and the built-in formula is as follows:
(k x ,k y ,k z )＝(-sinθ xz ,cosθ xz sinθ yz ,cosθ xz cosθ yz ) (19)
g2. The foot drop of the inspection point M about the v' axis is denoted as F, and the parameter expression of the rectangular coordinate component is as follows:
x M-F ＝k x t M-F ,y M-F ＝k y t M-F ,z M-F ＝k z t M-F (20)
wherein t is M-F Is a pending parameter. Since the v' axis is perpendicular to the M, F line, the formula is satisfied:
(k x ,k y ,k z )·(x M -k x t M-F ,y M -k y t M-F ,z M -k z t M-F )＝0 (21)
solving equation (21) to obtain parameter t M-F The value is calculated by the singlechip, and the built-in formula is as follows:
g3. the vertical distance between the investigation point M and the v' axis can be calculated by using a formula (22), the calculation is completed by a singlechip, and the built-in formula is as follows:
formula (17, 18) is rewritten as:
wherein the distance d between the M point and the M' point M→M′ The expression is satisfied:
wherein x' M 、y′ M 、z′ M From two rotation angles alpha' M 、β′ M The expression is shown in the formulas (18, 19). It follows that the two equality signs in equation set (24) are to the left a constant calculated using equation (23) and to the right a constant with respect to the rotation angle α' M 、β′ M The dominant expression of (2) forms a binary equation set, the numerical solution algorithm is simple, and the numerical software such as Matlab, mathematica and the like has ready-made calculation codes, g1-g3 is synthesized in the control platform of the device, M is changed into B, P, M ' is changed into B ' and P ', and the spatial angle orientation alpha ' of the emitter and the flat plate is realized after rotation ' B 、β′ B 、α′ P 、β′ P The calculated positions of the two are adjusted according to the parameters, and the table tennis is launched at the calculated speed value of the formula (9), and the table tennis can obtain the target motion state after the table tennis bounces through the flat plate collision, specifically comprising speed, motion direction, spin angular velocity and rotation direction.
In summary, the invention provides a novel service capable of freely controlling the rotation state of a table tennis ball, which comprises the following working steps and calculation processes:
s1, inputting target motion parameters of a table tennis ball on an operation screen by a user: velocity v ', angular velocity ω', horizontal offset angle θ xz Vertical deflection angle theta yz Angular velocity direction rotation angle γ;
s2, calculating the 1 st wheel position parameter by the singlechip through formulas (4 and 8):
s3, calculating the 2 nd round of position parameters by the singlechip through formulas (10, 11 and 12): alpha, beta, alpha B 、β B 、α P 、β P ；
S4, calculating the 3 rd wheel position parameter by the singlechip according to formulas (15) - (25): alpha' B 、β′ B 、α′ P 、β′ P ；
S5, calculating the transmitting rate v of the table tennis transmitter by the singlechip through a formula (9);
s6, the singlechip calculates the azimuth parameter (alpha 'of the transmitter' B ,β′ B ) Plate orientation parameter alpha' P ,β′ P ) The emitter and the flat plate are in a calculated position by controlling the movement of the emitter on the moving track A, the movement of the bottom end of the moving track A on the moving track B and the rotation of the angle controller C and the angle controller D;
s7, the singlechip controls the transmitter to transmit the table tennis ball at the power corresponding to the speed v, and after the table tennis ball collides with the rebound flat plate in an inelastic friction manner, the table tennis ball is transmitted at the speed v ', the angular speed omega' and the horizontal deflection angle eta xz Vertical deflection angle theta yz The motion state of the angular velocity direction rotation angle gamma is emergent;
the steps realize the quantitative control of the service robot on each motion parameter of the table tennis.
Another object of the present invention is to provide a ball dispenser device capable of freely controlling the rotation state of a table tennis ball, which is characterized by comprising a rebound board, a table tennis ball launcher, a moving track a, a moving track B, a circular pillar, an angle controller C, an angle controller D, a board support, a control platform, a horizontal angle scale and a fixing device. The rebound flat plate and the two groups of angle controllers thereof are connected to the device chassis through a flat plate bracket, and the table tennis transmitter and the two groups of moving rails are connected to the device chassis through round support posts. All movable mechanical devices (a table tennis emitter, a movable track A, an angle controller C and an angle controller D) are controlled by a single chip microcomputer arranged in the system, and the table tennis meeting the required movement state can be emitted by inputting target movement parameters of the emergent ball on an operation screen of a control platform.
The service robot device capable of freely controlling the rotation state of the table tennis is characterized in that the rebound flat plate is diamond-shaped, the lengths of two opposite sides are smaller than the inner diameter of the semicircular moving track B, the rebound flat plate is rough in surface and hard in texture, can bear 100000-1000000 times of table tennis impact and is free from abrasion or fracture; the tangential recovery coefficient and the normal recovery coefficient between the rebound flat plate and the table tennis are measured in advance and recorded in a singlechip of a control platform; the plate material and the thickness have no special requirements and meet the conditions.
The ball dispenser device capable of freely controlling the rotation state of the table tennis can emit the table tennis with different initial speeds, and is connected with the ball dispenser device to achieve the purpose of continuous and repeated emission, and the transmitter and the ball dispenser device have no special requirements and can be manufactured by manufacturers meeting the requirements in the market; the front of the emitter can be matched with a table tennis ball recovery net so as to conveniently collect table tennis balls.
According to the ball dispenser device capable of freely controlling the rotation state of the table tennis, the moving rail A, B is a semicircular rail marked with angle scales, the circle centers of the two rails coincide, and the circle center is always positioned at the center of the rebound flat plate; the middle end of the moving track B is fixed at the top end of the circular support and cannot move; the plane of the moving track A is always parallel to the z axis, and the bottom end of the moving track A is connected with the moving track B and can freely move on the moving track B; the table tennis transmitter can freely move on the moving track A and always aims at the center of the rebound flat plate; under the control of the singlechip, the table tennis ball transmitter can be adjusted to any transmitting direction.
The ball dispenser device capable of freely controlling the rotation state of the table tennis is characterized in that the round support column is vertically fixed on the device chassis and is in seamless connection with the moving track B; the device supports the table tennis ball emitter and the space motion of the moving track A, and can not shake when the table tennis ball is emitted.
According to the ball dispenser device capable of freely controlling the rotation state of the table tennis, the angle controller C and the angle controller D can accurately rotate connected objects (such as rod bodies), and motor-type and gear-type fine adjustment rotators on the market can meet the requirements; the angle controllers C are respectively connected with the vertexes of the short sides of the rebound flat plate at the front and the rear, the connecting lines of the two angle controllers C are always positioned on the yz plane, and the angle controllers C can rotate the rebound flat plate around the connecting lines; the left and right angle controllers D are respectively connected with the long-side vertexes of the rebound flat plate, the connecting lines of the two angle controllers D are always coincident with the x axis and are positioned right above the moving track B and close to the highest point at the upper end of the moving track B; the rebound flat plate, the angle controller C, the angle controller D and the flat plate support are firmly and stably connected, so that the structure can not displace when the rebound flat plate is impacted by the table tennis.
According to the ball dispenser device capable of freely controlling the rotation state of the table tennis, the lower end of the flat support is connected with the chassis of the device, the top end of the flat support is provided with the angle controller D, and a circuit for connecting the angle controller C, the angle controller D and the singlechip is arranged inside the flat support; the flat support is firmly and stably connected with the chassis of the device, so that the support, the circuit and the controller are prevented from deformation or other damages after the table tennis collides with the rebound flat plate.
The service robot device capable of freely controlling the rotation state of the table tennis ball mainly comprises an operation screen, an electronic circuit and a singlechip; the operation screen is used for inputting target motion parameters; the electronic circuit connects the operation screen, the table tennis ball transmitter, the moving track A, the angle controller C and the angle controller D to the singlechip; the single chip microcomputer receives parameters input by a user from an operation screen, calculates through a built-in formula related to the space azimuth of the rebound flat plate and the table tennis transmitter and the table tennis transmitting speed, controls the mechanical movements of the table tennis transmitter, the moving track A and the angular speed controller C, D according to calculation results, and finally controls the transmitter to transmit the table tennis at a determined speed calculation value.
Above-mentioned service robot device that can free control table tennis rotation state, horizontal angle scale sculpture be semicircular at the upper surface of device chassis forefront for help the user to mark the horizontal deflection angle that the table tennis was launched.
Above-mentioned can the ball service machine device of free control table tennis rotation state, fixing device be fixed in the rearmost lower surface of device chassis, left and right sides is one respectively, can be through the whole centre gripping of screw with the ball service machine on the table tennis mesa to enough stable, do not take place to rock when making the device operate.
The invention provides a model, a program algorithm and a device design of a ball serving machine capable of freely controlling the rotation state of a table tennis ball based on a theoretical formula of inelastic friction collision between a ball and a rough plate in elastic mechanics, and has the following beneficial effects compared with the prior art:
the invention combines the elasto-dynamic mechanism of the collision process of the table tennis and the rough flat plate, has a complete theoretical basis, provides a set of quantitative control method for the motion state of the outgoing table tennis through formula deduction, particularly the spin angular velocity and the rotation direction of the table tennis, and fills the technical hole of the field of the table tennis ball serving machine in the aspect of spin.
The device for the ball serving machine capable of freely controlling the rotation state of the table tennis can emit the spin with freely controlled motion parameters, meets the market demands of the current professional team training and the masses' daily exercise on the spin serving machine, and provides technical support for more truly simulating the table tennis athletic scene and enhancing the training effect.
The device for the ball serving machine capable of freely controlling the rotation state of the table tennis ball provided by the invention comprises parts which can be conveniently purchased in the market, such as a fine tuning rotator, a rotary screw and the like, and has good practicability and producibility.
The device for the ball dispenser capable of freely controlling the rotation state of the table tennis ball, provided by the invention, is combined with the singlechip technology to complete target parameter input, formula calculation and component control, and a user can immediately calculate, adjust and emit the table tennis ball in the motion state by inputting target motion parameters on the operation screen, so that the device is convenient, efficient and accurate in use process and convenient for the user to adjust in time.
The model design and program algorithm provided by the invention is applicable to elastic balls with rough surfaces, so that the possibility of migrating to other ball games, such as tennis balls, basketball balls and the like, is provided.
Drawings
Fig. 1 is a schematic diagram of a space rectangular coordinate system established by a service robot system and a table tennis exit direction changing in space during a horizontal and vertical deflection angle determination process. In the figure, 1 is a change process of a horizontal deflection angle, and 2 is a change process of a vertical deflection angle;
FIG. 2 is a schematic view of the impact system projected inboard of the xy plane and the associated angular sense;
FIG. 3 is a schematic view of the impact system projected inboard of the yz plane and the associated angular meaning;
FIG. 4 is a schematic view showing the movement state of the non-rotating elastic sphere before and after collision with the rough plate;
FIG. 5 is a schematic view of the collision system rotated by an angle γ about the exit direction;
FIG. 6 is a diagram of the core structure of the table tennis service robot of the present invention;
in the figure, 1, a rebound flat plate, 2, a table tennis transmitter, 3, moving tracks A and 4, moving tracks B and 5, a round pillar, 6, an angle controller C and 7, an angle controller D and 8, a flat plate support, 9, a control console, 10, a horizontal angle scale and 11 and a fixing device.
Detailed Description
Referring to fig. 6, the novel table tennis ball serving machine capable of freely controlling the rotation state of table tennis balls provided by the embodiment is composed of a rebound flat plate 1, a table tennis ball transmitter 2, a moving track A3, a moving track B4, a round support 5, an angle controller C6, an angle controller D7, a flat plate bracket 8, a control platform 9, a horizontal angle scale 10 and a fixing device 11.
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings:
A. the user sets the service robot to an initialized state through the operation screen. At this time, the rotation angles of the table tennis transmitter 2, the moving track A3, the angle controller C6 and the angle controller D7 are all zero, namely the table tennis transmitter 2 is positioned on the negative half axis of the z axis and points to the center of the rebound flat plate 1, and the moving track A3 coincides with the yz plane (vertical plane); the rebound board 1 coincides with the xz plane (horizontal plane);
B. The user refers to the moving track A3 and the angle graduated scale of the horizontal angle graduated scale 10 to respectively estimate the vertical deflection angle theta of the required table tennis emergent direction yz With a horizontal deflection angle theta xz The speed v ', the angular speed omega' and the angular speed direction rotation angle gamma of the table tennis are input into the system together through the operation screen;
C. after the user verifies and confirms the required movement state, the user plays the ballThe machine system calculates the space azimuth parameter alpha 'which is required to be met by the rebound board 1 corresponding to the target motion state according to the built-in formula' P 、β′ P Space azimuth parameter α that table tennis transmitter 2 needs to satisfy B 、β B The required emission rate v of the table tennis ball;
D. the service robot system uses the angle controller D7 to control the peak of the short side of the rebound board 1 through the built-in control circuit, so that the board rotates back and forth to beta' P The angle (yz plane) is controlled by the angle controller C6 to rebound the long side vertex of the flat plate 1 to rotate the flat plate to alpha 'left and right' P Angle (xy plane), adjusting the table tennis transmitter 2 to beta 'in the vertical plane (yz plane) by mechanical movement of the table tennis transmitter 2 on the moving track A3' B Angle, the table tennis transmitter 2 is adjusted to alpha 'in xy plane by using the mechanical motion of the bottom end of the moving track A3 on the moving track B4' B A corner;
E. the user starts a service mode through an operation screen, then the table tennis transmitter 2 transmits a spin-free table tennis at a speed calculated value v, and the ball is emitted by a target motion parameter after colliding and reflecting with the central point of the rebound flat plate 1, and the specific expression is as follows: the emergent direction satisfies the horizontal deflection angle theta xz With vertical deflection angle theta yz The motion rate is v ', the angular velocity is omega', and the angular velocity direction rotation angle gamma;
F. the user can finely adjust the target motion parameters according to the initial emergent condition of the table tennis, and the required table tennis state can be acquired more accurately.
The invention provides a ball serving machine capable of freely controlling the rotation state of a table tennis ball by means of a theoretical formula of inelastic friction collision between a ball body and a rough flat plate in elastic mechanics through deduction and design. The invention mainly solves the problems that the old ball serving machine lacks quantitative regulation and control functions (especially the rotation speed and the rotation direction) on the movement state of the ball body, has a great gap with the actual athletic and has very limited auxiliary training effect, and is beneficial to the physical training of masses or professional players.
Claims (8)
1. Can freely control service robot of table tennis rotary state, characterized in that includes: the device comprises a rebound flat plate (1), a table tennis transmitter (2), a moving track A (3), a moving track B (4), a round pillar (5), an angle controller C (6), an angle controller D (7), a flat plate bracket (8), a control platform (9), a horizontal angle scale (10) and a fixing device (11); the rebound flat plate (1) is diamond-shaped, the endpoints of two opposite sides are respectively connected with the angle controller C (6) and the angle controller D (7), and the rebound flat plate can freely rotate around the two opposite sides under the operation of the angle controller C (6) and the angle controller D (7); the tail ends of two sides of the angle controller D (7) are respectively connected with the flat plate bracket (8) in a seamless manner; the bottom end of the flat plate support (8) is in seamless connection with the chassis of the device, and supports the rebound flat plate (1), the angle controller C (6) and the angle controller D (7); the table tennis transmitter (2) is arranged on the semicircular moving track A (3) and can move freely on the moving track A (3), and the transmitter always points to the center of the rebound flat plate (1); the lower end of the moving track A (3) is connected with a semicircular moving track B (4) and can move freely on the moving track B (4), and the circle center of the moving track A (3) is always positioned at the center of the rebound flat plate (1); the middle end of the moving track B (4) is seamlessly arranged on the round support column (5), the moving track B (4) is positioned on a vertical plane, and the circle center is positioned at the center of the rebound flat plate (1); the bottom end of the round support column (5) is in seamless connection with the device chassis; the control platform (9) is arranged in the chassis of the device, and controls the mechanical movement of the table tennis ball transmitter (2), the moving track A (3), the angle controller C (6) and the angle controller D (7) through the singlechip and the circuit, and an operation screen contained in the control platform (9) is positioned behind the chassis of the device; the horizontal angle scale (10) is carved on the forefront upper surface of the device chassis and is semicircular; the fixing device (11) is fixed on the lower surface of the rearmost part of the device chassis, and the left side and the right side are respectively one;
Parameter definition:
the coordinate origin is positioned at the center point of the rebound plate, the x-axis horizontally points to the right along the rhombic long side of the rebound plate, the y-axis vertically points to the ground, and the z-axis horizontally points to the front perpendicular to the x-axis and the y-axis;
α B the rotation angle of the table tennis transmitter in the xy plane is clockwise positive along the z-axis visual angle, the rotation angle can be controlled by the movement of the bottom end of the moving track A (3) on the moving track B (4), and the circle center of the moving track A (3) is always fixed at the center of the flat plate; beta B The rotation angle of the table tennis transmitter in the yz plane is clockwise positive along the x-axis visual angle, the rotation angle can be controlled by the movement of the transmitter on the moving track A (3), and the transmitter is always aligned to the center of the flat plate during adjustment; alpha P For bouncing the corner of the flat plate in the xy plane, the angle of view along the z axis is clockwise positive and can be adjusted by the angle controller C (6); beta P For the corner of the rebound plate in the yz plane, the angle of view along the x-axis is clockwise positive and can be adjusted by an angle controller D (7); alpha is the integral rotation angle of the emitter and the rebound plate in the xy plane, beta is the integral rotation angle of the emitter and the rebound plate in the yz plane, and alpha and beta are used for adjusting the emergent direction of the collision system to the emergent direction required by a user;
Embodiments are described below:
A. setting the service robot to an initialized state through an operation screen by a user; at the moment, the rotation angles of the table tennis transmitter (2), the moving track A (3), the angle controller C (6) and the angle controller D (7) are all zero;
B. the user refers to the angle graduated scales of the moving track A (3) and the horizontal angle graduated scale (10) to respectively estimate the vertical deflection angle theta of the required ping-pong ball emergent direction yz With a horizontal deflection angle theta xz The speed v ', the angular speed omega' and the angular speed direction rotation angle gamma of the table tennis are input into the system together through the operation screen;
C. after the user verifies and confirms the required motion state, the service robot system calculates the space azimuth parameter alpha which is required to be met by the rebound board (1) corresponding to the target motion state according to the built-in formula P '、β P ' Ping-pongSpace azimuth parameter alpha to be satisfied by the ball transmitter (2) B 、β B The required emission rate v of the table tennis ball;
D. the service robot system controls the short side peak of the rebound board (1) by the angle controller D (7)) through the built-in control circuit to rotate the board back and forth to beta P The angle is controlled by an angle controller C (6) to control the long-side vertex of the reverse spring flat plate (1) to rotate the flat plate left and right to alpha P ' Angle, adjusting the table tennis transmitter (2) to beta in the vertical plane by using the mechanical movement of the table tennis transmitter (2) on the moving track A (3) B ' Angle, the table tennis transmitter (2) is adjusted to alpha in xy plane by utilizing the mechanical movement of the bottom end of the moving track A (3) on the moving track B (4) B ' corner;
E. the user opens the service mode through the operation screen, then the table tennis transmitter (2) transmits the rotation-free table tennis according to the velocity calculation value v, and the ball is emitted according to the target motion parameters after being collided and reflected with the center point of the rebound flat plate (1), and the specific expression is as follows: the emergent direction satisfies the horizontal deflection angle theta xz With vertical deflection angle theta yz The motion rate is v ', the angular velocity is omega', and the angular velocity direction rotation angle gamma;
F. the user can finely adjust the target motion parameters according to the initial emergent condition of the table tennis, and the required table tennis state can be acquired more accurately.
2. A service robot capable of freely controlling the rotation state of a table tennis ball as claimed in claim 1, wherein: the rebound flat plate (1) is diamond-shaped, the lengths of two opposite sides are smaller than the inner diameter of the semicircular moving track B (4), the rebound flat plate (1) is rough in surface and hard in texture, can bear 100000-1000000 times of table tennis impact and is free from abrasion or fracture, and the tangential recovery coefficient and the normal recovery coefficient between the rebound flat plate (1) and the table tennis are recorded in a singlechip of the control platform (9) in advance.
3. A freely controllable device according to claim 1Service robot of system table tennis rotation state, its characterized in that: the moving track A (3) and the moving track B (4) are semicircular tracks with angle scales marked on the surfaces, and the circle centers of the moving track A (3) and the moving track B are coincident and are always positioned at the center of the rebound flat plate (1); the moving track B (4) is positioned atxyIn the plane, the middle end of the moving track B (4) is seamlessly connected to the top end of the circular support column (5) and cannot move; the plane of the moving track A (3) always passes throughzAnd the bottom end of the shaft is connected with the moving track B (4) and can freely move on the moving track B (4).
4. A service robot capable of freely controlling the rotation state of a table tennis ball as claimed in claim 1, wherein: the angle controller C (6) and the angle controller D (7) can accurately and fixedly rotate the connected objects; the angle controllers C (6) are respectively connected with the top points of the short sides of the rebound flat plate (1) at the front and back, and the connecting lines of the two angle controllers C (6) are always positionedyzThe plane and angle controller C (6) can rotate the rebound board (1) around the connecting line; the left and right of the angle controllers D (7) are respectively connected with the long-side vertexes of the rebound flat plate (1), and the connection line of the two angle controllers D (7) is always connected with xThe axes are overlapped, are positioned right above the moving track B (4) and are close to the highest point at the upper end of the moving track B (4), and the angle controller D (7) can rotate the rebound flat plate (1) around the connecting line; the rebound flat plate (1), the angle controller C (6), the angle controller D (7) and the flat plate bracket (8) are firmly and stably connected, so that the rebound flat plate (1) is prevented from being displaced when being impacted by a table tennis ball.
5. A service robot capable of freely controlling the rotation state of a table tennis ball as claimed in claim 1, wherein: the lower end of the flat plate bracket (8) is fixedly connected with the device chassis, the top end is provided with an angle controller D (7), and a circuit for connecting the angle controller C (6) and the angle controller D (7) with the singlechip is arranged in the flat plate bracket; the flat support (8) is firmly and stably connected with the chassis of the device, so that the support, the circuit and the angle controller are not deformed or damaged after the table tennis collides with the rebound flat plate (1).
6. A service robot capable of freely controlling the rotation state of a table tennis ball as claimed in claim 1, wherein: the control platform (9) mainly comprises an operation screen, a circuit and a singlechip; the operation screen is used for inputting target motion parameters; the circuit connects an operation screen, a table tennis transmitter (2), a moving track A (3), an angle controller C (6) and an angle controller D (7) to the singlechip; the single chip microcomputer receives parameters input by a user from an operation screen, calculates through a formula which is internally arranged about the space orientation of the rebound flat plate (1) and the table tennis transmitter (2) and the transmitting speed of the table tennis transmitter (2), controls the mechanical movement of the table tennis transmitter (2), the moving track A (3), the angle controller C (6) and the angle controller D (7) according to calculation results, enables the rebound flat plate (1) and the table tennis transmitter (2) to reach the required space orientation, and controls the table tennis transmitter (2) to emit table tennis.
7. A service robot capable of freely controlling the rotation state of a table tennis ball as claimed in claim 1, wherein: the horizontal angle scale (10) is carved on the forefront upper surface of the device chassis and is semicircular and used for assisting a user in calibrating the horizontal deflection angle theta of table tennis outgoing xz 。
8. A service robot capable of freely controlling the rotation state of a table tennis ball as claimed in claim 1, wherein: the fixing device (11) is fixed on the lower surface of the rearmost part of the device chassis, one of the left side and the right side respectively, and the whole service robot can be clamped on a table tennis table surface through rotating screws and is firm enough, so that the device does not shake during operation.
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