CN108970075B - Image-based table tennis service machine control device and method - Google Patents
Image-based table tennis service machine control device and method Download PDFInfo
- Publication number
- CN108970075B CN108970075B CN201810853241.9A CN201810853241A CN108970075B CN 108970075 B CN108970075 B CN 108970075B CN 201810853241 A CN201810853241 A CN 201810853241A CN 108970075 B CN108970075 B CN 108970075B
- Authority
- CN
- China
- Prior art keywords
- table tennis
- service
- difficulty
- player
- unit
- 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.)
- Active
Links
Images
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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a control device and a control method of a table tennis service robot based on images, wherein a difficulty setting unit sets difficulty coefficients of various dimensions, an image acquisition unit shoots images of table tennis players and transmits the images to a player posture analysis module of the image acquisition unit, the player posture analysis module analyzes the standing position of the table tennis players relative to a table tennis table and the holding posture of the table tennis players according to the images and transmits the analysis result to a central processing unit, the central processing unit receives the difficulty coefficients of the three dimensions of the angle, the speed and the rotation set by the difficulty setting unit and transmits service instructions to the table tennis service robot according to the standing position of the table tennis players relative to the table tennis table and the holding posture of the table tennis players transmitted by the image acquisition unit, and the table tennis service robot comprises a table tennis service robot and a service instruction receiving module, after a service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine launches table tennis according to the service instruction.
Description
Technical Field
The invention belongs to the field of image processing, and particularly relates to a table tennis serving machine control device and method based on images.
Background
The table tennis ball serving machine is a common apparatus for table tennis athletes, and at present, the table tennis ball serving machine can serve table tennis balls at a specified angle, speed and rotation.
However, because the levels of table tennis players are different, playing methods are different, and the standing position and the posture of holding the table tennis bat are different at ordinary times, an intelligent table tennis service robot which can train aiming at the characteristics of the table tennis players is lacked at present.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control device and a control method for a table tennis service machine based on images.
First, the present invention provides an image-based table tennis service machine control apparatus, comprising:
the table tennis service unit comprises a table tennis service machine and a service instruction receiving module, wherein after the service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine can be used for launching table tennis at a specified angle, speed and rotation according to the service instruction.
The image acquisition unit comprises an image shooting module and an athlete posture analysis module, wherein the image shooting module adopts a camera to shoot images of a table tennis athlete and transmits the images to the athlete posture analysis module, and the table tennis athlete posture analysis module analyzes the standing position of the table tennis athlete relative to the table tennis table and the holding posture of the table tennis athlete according to the images and transmits an analysis result to the central processing unit.
Specifically, the standing position of the table tennis player relative to the table tennis table means that the table tennis player stands at a position deviated from the left or right of the table tennis table, and the table tennis player holding posture means that the table tennis player holds a table tennis bat with a left hand or a table tennis bat with a right hand.
The difficulty setting unit comprises a service angle difficulty coefficient setting interface, a service speed difficulty coefficient setting interface and a rotation difficulty coefficient setting interface and is used for pertinently setting the difficulty coefficients of all dimensions according to the training requirements of the table tennis players.
The central processing unit is electrically connected with the difficulty setting unit, the image acquisition unit and the table tennis serving unit, receives the difficulty coefficients of the three dimensions of angle, speed and rotation set by the difficulty setting unit, and sends a serving instruction to the table tennis serving unit according to the standing position of the table tennis player relative to the table tennis table and the table tennis player holding posture sent by the image acquisition unit.
Specifically, the central processing unit may be a single chip microcomputer or a P L C processor.
The invention also provides a control method of the table tennis service robot based on the image, which is characterized by comprising the following steps:
the method comprises the following steps: and the difficulty coefficients of all dimensions are set in a serving angle difficulty coefficient setting interface, a serving speed difficulty coefficient setting interface and a rotation difficulty coefficient setting interface of the difficulty setting unit according to the training requirements of the table tennis players.
Step two: the image shooting module of the image acquisition unit shoots images of table tennis players by adopting the camera and transmits the images to the player posture analysis module of the image acquisition unit, and the table tennis player posture analysis module analyzes the standing positions of the table tennis players relative to the table tennis table and the holding and shooting postures of the table tennis players according to the images and transmits analysis results to the central processing unit.
Specifically, the standing position of the table tennis player relative to the table tennis table means that the table tennis player stands at a position on the table tennis table which is deviated from the left or right, and the holding posture of the table tennis player means that the table tennis player holds the table tennis bat with the left or the right.
Step three: the central processing unit receives the degree of difficulty, the speed and the difficulty coefficient of the three dimensions of rotation which are set by the difficulty setting unit, and sends a service instruction to the table tennis service unit according to the standing position of the table tennis player relative to the table tennis table and the table tennis player holding posture which are sent by the image acquisition unit.
Specifically, the central processing unit may be a single chip microcomputer or a P L C processor.
Step four: the table tennis service unit comprises a table tennis service machine and a service instruction receiving module, wherein after the service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine can be used for launching table tennis at a specified angle, speed and rotation according to the service instruction.
Drawings
Fig. 1 is a flow chart of the operation of a table tennis service machine control device based on images.
Detailed Description
The embodiments are described in detail below with reference to the accompanying drawings.
First, the present invention provides an image-based table tennis service apparatus control device, comprising:
the table tennis service unit comprises a table tennis service machine and a service instruction receiving module, wherein after the service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine can be used for launching table tennis at a specified angle, speed and rotation according to the service instruction.
In the prior art, the table tennis serving machine can launch table tennis balls at a specified angle, speed and rotation, and the specific technical scheme is not the key point of the invention and is not described in detail here.
The image acquisition unit comprises an image shooting module and an athlete posture analysis module, wherein the image shooting module adopts a camera to shoot images of a table tennis athlete and transmits the images to the athlete posture analysis module, and the table tennis athlete posture analysis module analyzes the standing position of the table tennis athlete relative to the table tennis table and the holding posture of the table tennis athlete according to the images and transmits an analysis result to the central processing unit.
The standing position of the table tennis player relative to the table tennis table means that the table tennis player stands at the left position or the right position of the table tennis table, and the table tennis player holding posture means that the table tennis player holds a table tennis bat with a left hand or a table tennis bat with a right hand.
The difficulty setting unit comprises a service angle difficulty coefficient setting interface, a service speed difficulty coefficient setting interface and a rotation difficulty coefficient setting interface and is used for pertinently setting the difficulty coefficients of all dimensions according to the training requirements of the table tennis players.
For the transverse bat athlete, the difficulty can be increased in the rotation difficulty coefficient setting interface, so that the table tennis service robot can send out balls with strong rotation, and the ball receiving capacity of the rotating balls can be trained in a targeted manner.
For the athletes needing to train the moving speed under feet, the difficulty can be increased in the service angle difficulty coefficient setting interface, so that the table tennis service robot can send balls far away from the standing position of the table tennis athlete and balls in the backhand position, and the table tennis athlete is forced to accelerate the moving speed under feet.
For athletes with high comprehensive competitive level, the difficulty coefficients of the angle, the speed and the rotation can be all increased so as to improve the training quality.
The central processing unit is electrically connected with the difficulty setting unit, the image acquisition unit and the table tennis serving unit, receives the difficulty coefficients of the three dimensions of angle, speed and rotation set by the difficulty setting unit, and sends a serving instruction to the table tennis serving unit according to the standing position of the table tennis player relative to the table tennis table and the table tennis player holding posture sent by the image acquisition unit.
The invention discloses a control method of a table tennis serving machine control device based on images, which comprises the following steps:
the method comprises the following steps: and the difficulty coefficients of all dimensions are set in a serving angle difficulty coefficient setting interface, a serving speed difficulty coefficient setting interface and a rotation difficulty coefficient setting interface of the difficulty setting unit according to the training requirements of the table tennis players.
For the transverse bat athlete, the difficulty can be increased in the rotation difficulty coefficient setting interface, so that the table tennis service robot can send out balls with strong rotation, and the ball receiving capacity of the rotating balls can be trained in a targeted manner.
For the athletes needing to train the moving speed under feet, the difficulty can be increased in the service angle difficulty coefficient setting interface, so that the table tennis service robot can send balls far away from the standing position of the table tennis athlete and balls in the backhand position, and the table tennis athlete is forced to accelerate the moving speed under feet.
For athletes with high comprehensive competitive level, the difficulty coefficients of the angle, the speed and the rotation can be all increased so as to improve the training quality.
Step two: the image shooting module of the image acquisition unit shoots images of table tennis players by adopting the camera and transmits the images to the player posture analysis module of the image acquisition unit, and the table tennis player posture analysis module analyzes the standing positions of the table tennis players relative to the table tennis table and the holding and shooting postures of the table tennis players according to the images and transmits analysis results to the central processing unit.
The standing position of the table tennis player relative to the table tennis table means that the table tennis player stands at the left position or the right position of the table tennis table, and the table tennis player holding posture means that the table tennis player holds a table tennis bat with a left hand or a table tennis bat with a right hand.
Step three: the central processing unit receives the degree of difficulty, the speed and the difficulty coefficient of the three dimensions of rotation which are set by the difficulty setting unit, and sends a service instruction to the table tennis service unit according to the standing position of the table tennis player relative to the table tennis table and the table tennis player holding posture which are sent by the image acquisition unit.
The central processing unit can adopt a single chip microcomputer or a P L C processor and the like.
Step four: the table tennis service unit comprises a table tennis service machine and a service instruction receiving module, wherein after the service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine can be used for launching table tennis at a specified angle, speed and rotation according to the service instruction.
The above embodiments are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. An image-based table tennis ball serving machine control apparatus, comprising:
the table tennis service unit comprises a table tennis service machine and a service instruction receiving module, wherein after the service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine can be used for launching table tennis at a specified angle, speed and rotation according to the service instruction;
the image acquisition unit comprises an image shooting module and an athlete posture analysis module, wherein the image shooting module adopts a camera to shoot images of a table tennis athlete and transmits the images to the athlete posture analysis module, and the table tennis athlete posture analysis module analyzes the standing position of the table tennis athlete relative to a table tennis table and the holding posture of the table tennis athlete according to the images and transmits an analysis result to the central processing unit;
the difficulty setting unit comprises a service angle difficulty coefficient setting interface, a service speed difficulty coefficient setting interface and a rotation difficulty coefficient setting interface and is used for pertinently setting the difficulty coefficients of all dimensions according to the training requirements of the table tennis players;
the central processing unit is electrically connected with the difficulty setting unit, the image acquisition unit and the table tennis serving unit, receives the three-dimensional difficulty coefficients of the angle, the speed and the rotation set by the difficulty setting unit, and sends a serving instruction to the table tennis serving unit according to the stand position of the table tennis player relative to the table tennis table and the table tennis player holding posture sent by the image acquisition unit;
the standing position of the table tennis player relative to the table tennis table means that the table tennis player stands at a left position or a right position of the table tennis table, and the table tennis player holding posture means that the table tennis player holds a table tennis bat with a left hand or a table tennis bat with a right hand.
2. An image-based table tennis ball serving machine control device according to claim 1, wherein said central processing unit is a single-chip microcomputer or a P L C processor.
3. A control method of a table tennis serving machine based on images is characterized by comprising the following steps:
the method comprises the following steps: setting the difficulty coefficients of all dimensions in a serving angle difficulty coefficient setting interface, a serving speed difficulty coefficient setting interface and a rotation difficulty coefficient setting interface of a difficulty setting unit according to the training requirements of table tennis athletes;
step two: the image shooting module of the image acquisition unit shoots images of table tennis players by adopting a camera and transmits the images to the player posture analysis module of the image acquisition unit, and the table tennis player posture analysis module analyzes the standing positions of the table tennis players relative to the table tennis table and the holding and shooting postures of the table tennis players according to the images and transmits the analysis results to the central processing unit;
step three: the central processing unit receives the difficulty coefficients of the three dimensions of angle, speed and rotation set by the difficulty setting unit, and sends a service instruction to the table tennis service unit according to the standing position of the table tennis player relative to the table tennis table and the table tennis player holding posture sent by the image acquisition unit;
the standing position of the table tennis player relative to the table tennis table refers to the left position or the right position of the table tennis player standing on the table tennis table, and the table tennis player holding posture refers to whether the table tennis player holds a table tennis bat with a left hand or a table tennis bat with a right hand;
step four: the table tennis service unit comprises a table tennis service machine and a service instruction receiving module, wherein after the service instruction receiving module of the table tennis service unit receives a service instruction, the table tennis service machine can be used for launching table tennis at a specified angle, speed and rotation according to the service instruction.
4. The image-based table tennis ball serving machine control method of claim 3, wherein the central processing unit adopts a single chip microcomputer or a P L C processor.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010544846.7A CN111659096A (en) | 2018-07-30 | 2018-07-30 | Application of image-based table tennis serving machine control device in training of transverse clappers |
| CN201810853241.9A CN108970075B (en) | 2018-07-30 | 2018-07-30 | Image-based table tennis service machine control device and method |
| CN202010544847.1A CN111558215A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in training of moving speed of feet of sportsman |
| CN202010543929.4A CN111514568A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in comprehensive athletic training of athletes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810853241.9A CN108970075B (en) | 2018-07-30 | 2018-07-30 | Image-based table tennis service machine control device and method |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010544847.1A Division CN111558215A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in training of moving speed of feet of sportsman |
| CN202010543929.4A Division CN111514568A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in comprehensive athletic training of athletes |
| CN202010544846.7A Division CN111659096A (en) | 2018-07-30 | 2018-07-30 | Application of image-based table tennis serving machine control device in training of transverse clappers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108970075A CN108970075A (en) | 2018-12-11 |
| CN108970075B true CN108970075B (en) | 2020-07-14 |
Family
ID=64551957
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010543929.4A Withdrawn CN111514568A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in comprehensive athletic training of athletes |
| CN201810853241.9A Active CN108970075B (en) | 2018-07-30 | 2018-07-30 | Image-based table tennis service machine control device and method |
| CN202010544847.1A Withdrawn CN111558215A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in training of moving speed of feet of sportsman |
| CN202010544846.7A Withdrawn CN111659096A (en) | 2018-07-30 | 2018-07-30 | Application of image-based table tennis serving machine control device in training of transverse clappers |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010543929.4A Withdrawn CN111514568A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in comprehensive athletic training of athletes |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010544847.1A Withdrawn CN111558215A (en) | 2018-07-30 | 2018-07-30 | Application of control device of table tennis serving machine in training of moving speed of feet of sportsman |
| CN202010544846.7A Withdrawn CN111659096A (en) | 2018-07-30 | 2018-07-30 | Application of image-based table tennis serving machine control device in training of transverse clappers |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN111514568A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538443A (en) * | 2019-08-09 | 2019-12-06 | 西交利物浦大学 | Table tennis training robot with visual identification function |
| CN111228773A (en) * | 2020-03-02 | 2020-06-05 | 怀化学院 | Service control method and device based on binocular vision, storage medium and service machine |
| CN112535853A (en) * | 2020-12-07 | 2021-03-23 | 深兰科技（上海）有限公司 | Automatic ball feeding method and device and ball feeding machine |
| CN113134224A (en) * | 2021-04-25 | 2021-07-20 | 国家体育总局体育科学研究所 | Multi-machine linkage intelligent high-speed service robot for table tennis |
| CN114589719B (en) * | 2022-04-02 | 2024-03-08 | 中国电子科技集团公司第五十八研究所 | Real-time calibration and calibration system and method for table tennis service robot |
| CN115025470B (en) * | 2022-06-28 | 2024-03-08 | 上海创屹科技有限公司 | Intelligent table tennis bat, ball dispenser and intelligent table tennis teaching system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9033828B2 (en) * | 2011-09-29 | 2015-05-19 | Robosport Technologies LLC | Mechanical baseball tee |
| CN203736821U (en) * | 2013-07-03 | 2014-07-30 | 付卫东 | Intelligent tennis training device |
| CN104436611B (en) * | 2014-12-09 | 2016-08-31 | 张锐明 | Projection automatic kicking apparatus and the service method of this device |
| CN106730721B (en) * | 2016-12-15 | 2019-08-06 | 英华达（上海）科技有限公司 | A kind of automatic service training system and its method of serving a ball |
| CN107773939A (en) * | 2017-11-30 | 2018-03-09 | 河南理工大学 | A kind of table tennis auxiliary training device |
-
2018
- 2018-07-30 CN CN202010543929.4A patent/CN111514568A/en not_active Withdrawn
- 2018-07-30 CN CN201810853241.9A patent/CN108970075B/en active Active
- 2018-07-30 CN CN202010544847.1A patent/CN111558215A/en not_active Withdrawn
- 2018-07-30 CN CN202010544846.7A patent/CN111659096A/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| CN111558215A (en) | 2020-08-21 |
| CN111514568A (en) | 2020-08-11 |
| CN108970075A (en) | 2018-12-11 |
| CN111659096A (en) | 2020-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108970075B (en) | Image-based table tennis service machine control device and method | |
| CA2757674C (en) | Method of ball game motion recognition, apparatus for the same, and motion assisting device | |
| CN107803010B (en) | Table tennis training system | |
| US20150057775A1 (en) | System and method for capturing and using move data | |
| JP2016511113A (en) | Feedback signal from athletic performance image data | |
| CN110538443A (en) | Table tennis training robot with visual identification function | |
| WO2015168436A1 (en) | Video capture device stand for athletic performance data acquisition systems | |
| WO2017088597A1 (en) | Smart racket, smart bat, and smart stick | |
| CN104248835A (en) | Intelligent basketball scoring system and work method thereof | |
| CN108211301A (en) | Golf training image accessory system | |
| CN111184994B (en) | Batting training method, terminal equipment and storage medium | |
| CN105983225A (en) | Shooting training device based on 3D machine vision | |
| CN106267766A (en) | A kind of can the football special training equipment of the accurate Shooting skill of practicing athletic | |
| US20230218969A1 (en) | Ball machine apparatus gamification | |
| CN105396269A (en) | Tennis and badminton body sense bodybuilding device | |
| CN106512360B (en) | A kind of table tennis attacking driving teaching exercise machine | |
| CN111068279B (en) | Volleyball buckling machine | |
| CN104707319A (en) | Intelligent ball serving device for basketball shooting and working method thereof | |
| TWM407091U (en) | Automatic serving device | |
| US20210379446A1 (en) | Automatic ball machine apparatus | |
| EP4212218A1 (en) | A method, computer program, apparatus and system for recording tennis sporting event as from game start and stop detection | |
| CN105879350B (en) | A kind of golf methods of marking and its system | |
| US20230149791A1 (en) | Automatic ball machine apparatus localization | |
| CN212187711U (en) | Billiard ball hitting auxiliary training device based on inertial sensor | |
| CN212631664U (en) | Volleyball automatic training system |
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 | ||
| CB02 | Change of applicant information |
Address after: 233020 East District of No. 2 factory building, No. 965 Changzheng North Road, Huaihua District, Bengbu, Anhui. Applicant after: Bengbu Zhuling Intelligent Technology Co., Ltd Address before: 233020 East District of No. 2 factory building, No. 965 Changzheng North Road, Huaihua District, Bengbu, Anhui. Applicant before: BENGBU JINGTAO PRECISION MACHINERY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |