CN109011499A - A kind of spontaneous emission ping-pong robot - Google Patents
A kind of spontaneous emission ping-pong robot Download PDFInfo
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- CN109011499A CN109011499A CN201811063624.2A CN201811063624A CN109011499A CN 109011499 A CN109011499 A CN 109011499A CN 201811063624 A CN201811063624 A CN 201811063624A CN 109011499 A CN109011499 A CN 109011499A
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- motor
- table tennis
- flying disc
- trigger mechanism
- video processing
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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
-
- 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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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of spontaneous emission ping-pong robot is claimed in the present invention, comprising: motor, first hinges, Mecanum wheel, support profile, video processing module, robot machine structure and elevating mechanism, the Mecanum wheel is connected by the first hinges with four support columns, the output shaft of the motor is connect with Mecanum wheel, the controller is connected with motor and video processing module respectively, the flying disc trigger mechanism is set on aluminum profile, the motor is used to provide power to Mecanum wheel, Mecanum wheel is used to support profile and carries out all-around mobile, profile is supported to be used to provide support to flying disc trigger mechanism, video processing module is for obtaining ground obstacle video information, and it carries out video processing controller and is analyzed, flying disc trigger mechanism to flying disc for emit by rocking bar, lifting Mechanism is used to carry out descending operation to flying disc trigger mechanism；The present invention can flexibly and easily, accurately emit table tennis.
Description
Technical field
The invention belongs to sports technology field, in particular to a kind of spontaneous emission ping-pong robot.
Background technique
It, cannot be compared with the development of science and technology, the exhibition of intelligent small machine human hair is rapidly, but few with novel functional
Lift teen-age interest well, so the ad hoc a intelligent robot that can emit table tennis automatically of meter, it is desirable to be able to cause blueness
The interest of juvenile learning robot.However, table tennis emitter mainly applies to sports goods field, working principle at present
It is using runner friction ball principle, is have the shortcomings that heaviness, at high cost, therefore using large-scale step motor control mostly
It is not suitable in small-sized robot.
Mecanum wheel is the patent of Mecanum company of Sweden.This all-around mobile mode is based on there are many one
In the principle of the centre wheel of the wheel shaft on wheel periphery, these angled periphery wheel shafts turn the wheel steering force of a part
Change to above a wheel normal force.Direction and speed by respective wheel, the final synthesis of these power is in any requirement
Resultant force vector is generated on direction to ensure that this platform can move freely through on the direction of final resultant force vector,
Direction without changing wheel itself.Diagonally distribute many small rollers on its wheel rim, therefore wheel can be with horizontal sliding.It is small
The bus of roller is very special, and when wheel is around fixed wheel arbor rotation, the envelope of each small roller is cylindrical surface, so
The wheel being capable of continuously rolls forward.Mecanum wheel is compact-sized, and movement is a kind of very successful omni-directional wheel flexibly.Have 4
A this novel wheel is combined, can be with more flexible convenient realization all-around mobile function.
Summary of the invention
Present invention seek to address that the above problem of the prior art.Propose flexible and convenient, the accurate transmitting table tennis of one kind
Spontaneous emission ping-pong robot.
Technical scheme is as follows:
A kind of spontaneous emission ping-pong robot comprising: motor (1), the first hinges (2), Mecanum wheel (3),
Support profile (4), video processing module (5), robot machine structure and elevating mechanism, the Mecanum wheel (3) passes through the
One hinges (2) are connected with four support columns (4), and the output shaft of the motor (1) is connect with Mecanum wheel (3), described
Controller is connected with motor (1) and video processing module (5) respectively, and the flying disc trigger mechanism is set on aluminum profile (4),
The motor (1) is used to provide power to Mecanum wheel (3), and Mecanum wheel (3) is used to support profile (4) and carries out full side
Displacement is dynamic, and support profile (4) is used to provide support to flying disc trigger mechanism, and video processing module (5) is for obtaining earth bulging
Object video information, and carry out video processing controller and analyzed, flying disc trigger mechanism be used for flying disc by rocking bar carry out into
Row transmitting, elevating mechanism are used to carry out descending operation to flying disc trigger mechanism；
The elevating mechanism includes straight line lead screw motor (7) and the second hinges (13), the straight line lead screw motor (7)
It is connected with the second hinges (13), the second hinges (13) are connect with trigger mechanism bottom plate (8), straight line lead screw motor (7)
For providing lifting drive to the second hinges (13), the second hinges (13) drive trigger mechanism bottom plate by hinge
(8) it moves；
The table tennis includes table tennis container (9), transmitter organization soleplate (8), friction pulley driving motor (6), friction
Wheel (10), rocking bar (11) and table tennis (12), the table tennis (12) are set in table tennis container (9), the table tennis
(12) it is connect with friction pulley (10) gear, the launch angle of the table tennis (12) is stirred by rocking bar (11), described to rub
It wipes wheel (10) to be connected with friction pulley driving motor (6), the transmitter organization soleplate (8) and friction pulley driving motor (6) phase
Connection, the transmitter organization soleplate (8) are also connected by bindiny mechanism (14) with support profile (4).
Further, the support profile (4) is aluminum profile.
Further, the video processing module (5) is used to carry out barrier by acquiring a frame image in video flowing
Identification is converted by coordinate and is calculated, and is realized monocular vision ranging, is specifically had the following steps:
The image of acquisition is transformed into HSI spatial color model from rgb space color model by S1, obtains the space HSI point
Amount, conversion formula are as follows:
R, G, B respectively indicate red, green, blue, and H indicates the wavelength of color,
Referred to as tone；S indicates gradation of color, referred to as saturation degree；I indicates intensity or brightness；S2 carries out HSI spatial component
Filtering, edge detection, threshold process, Region growing segmentation, coordinate conversion, the barrier for obtaining camera acquired image exist
Coordinate in world coordinate system.
Further, when robot path planning, which uses, carries out obstacle-avoiding route planning using fuzzy logic control algorithm,
The following steps are included: robot, to choose a seed point on the median vertical line of front, left and right traverse scanning line of demarcation defines defeated
Enter the subordinating degree function with output relation, using P, two kinds of subordinating degree function blurrings of Q, according to actual requirement ambiguity in definition rule
Library；The final movement velocity of machine and angle are obtained using weighted mean method；
After emitting robot arrival target position, transmitting range and launch angle are set, machine adjusts pose, and design rubs
The height for wiping wheel speed and elevating mechanism emits table tennis.
Beneficial effects of the present invention
Present invention employs Mecanum wheels (3) to drive robot machine structure, and Mecanum wheel (3) are utilized
Diagonally distribute many small rollers on wheel rim, therefore wheel can be with horizontal sliding.The bus of small roller is very special, when wheel is around solid
When fixed wheel arbor rotation, the envelope of each small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.Mike receives
Nurse wheel construction is compact, and movement is a kind of very successful omni-directional wheel flexibly.There are 4 this novel wheels to be combined, Ke Yigeng
Flexible and convenient realization all-around mobile function.Further through fuzzy control theory, to carry out robot path planning, fuzzy control
Mathematical models are not needed, is suitable for the systems such as non-linear, lag, time-varying, improves practicability.
Detailed description of the invention
Fig. 1 is that the present invention provides preferred embodiment spontaneous emission ping-pong robot main view；
Fig. 2 is the side view of spontaneous emission ping-pong robot structure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiments of the present invention.
The technical solution that the present invention solves above-mentioned technical problem is:
It is as shown in Figure 1, 2 a kind of spontaneous emission ping-pong robot characterized by comprising motor 1, the first moveable hinge
Chain 2, Mecanum wheel 3, support profile 4, video processing module 5, robot machine structure and elevating mechanism, the Mecanum
Wheel 3 is connected by the first hinges 2 with four support columns 4, and the output shaft of the motor 1 is connect with Mecanum wheel 3, described
Controller is connected with motor 1 and video processing module 5 respectively, and the flying disc trigger mechanism is set on aluminum profile 4, the electricity
Machine 1 is used to provide power to Mecanum wheel 3, and Mecanum wheel 3 is used to support profile 4 and carries out all-around mobile, support type
Material 4 is used to provide support to flying disc trigger mechanism, and video processing module 5 is carried out for obtaining ground obstacle video information
Video processing controller is analyzed, and flying disc trigger mechanism for emit by rocking bar to flying disc, use by elevating mechanism
In to flying disc trigger mechanism progress descending operation；
The elevating mechanism includes straight line lead screw motor 7 and the second hinges, and the straight line lead screw motor 7 and second is living
Dynamic hinge is connected, and the second hinges are connect with trigger mechanism bottom plate 8, and straight line lead screw motor 7 to the second hinges for mentioning
For lifting drive, the second hinges drive trigger mechanism bottom plate 8 to move by hinge；
The table tennis includes table tennis container 9, transmitter organization soleplate 8, friction pulley driving motor 6, friction pulley 10, shakes
Bar 11 and table tennis 12, the table tennis 12 are set in table tennis container 9, and the table tennis 12 connects with 10 gear of friction pulley
It connects, the launch angle of the table tennis 12 is stirred by rocking bar 11, and the friction pulley 10 is connected with friction pulley driving motor 6
It connects, the transmitter organization soleplate 8 is connected with friction pulley driving motor 6, and the transmitter organization soleplate 8 also passes through connection machine
Structure is connected with support profile 4.
Preferably, the support profile 4 is aluminum profile.
Preferably, the video processing module 5 is used to identify barrier by acquiring a frame image in video flowing,
It is converted and is calculated by coordinate, realized monocular vision ranging, specifically have the following steps:
The image of acquisition is transformed into HSI spatial color model from rgb space color model by S1, obtains the space HSI point
Amount, conversion formula are as follows:
R, G, B respectively indicate red, green, blue, and H indicates the wavelength of color,
Referred to as tone；S indicates gradation of color, referred to as saturation degree；I indicates intensity or brightness；S2 carries out HSI spatial component
Filtering, edge detection, threshold process, Region growing segmentation, coordinate conversion, the barrier for obtaining camera acquired image exist
Coordinate in world coordinate system.
Preferably, when robot path planning, which uses, carries out obstacle-avoiding route planning using fuzzy logic control algorithm, packet
Include following steps: robot is to choose a seed point, left and right traverse scanning line of demarcation, definition input on the median vertical line of front
With the subordinating degree function of output relation, using P, two kinds of subordinating degree function blurrings of Q are regular according to actual requirement ambiguity in definition
Library；The final movement velocity of machine and angle are obtained using weighted mean method；
After emitting robot arrival target position, transmitting range and launch angle are set, machine adjusts pose, and design rubs
The height for wiping wheel speed and elevating mechanism emits flying disc.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (4)
1. a kind of spontaneous emission ping-pong robot characterized by comprising motor (1), the first hinges (2), Mecanum
Take turns (3), support profile (4), video processing module (5), robot machine structure and elevating mechanism, the Mecanum wheel (3)
It is connected by the first hinges (2) with four support columns (4), the output shaft of the motor (1) and Mecanum wheel (3) are even
It connects, the controller is connected with motor (1) and video processing module (5) respectively, and the flying disc trigger mechanism is set to aluminium profiles
On material (4), the motor (1) is used to provide power to Mecanum wheel (3), and Mecanum wheel (3) is used to support profile (4) simultaneously
All-around mobile is carried out, support profile (4) is used to provide support to flying disc trigger mechanism, and video processing module (5) is for obtaining
Ground obstacle video information, and carry out video processing controller and analyzed, flying disc trigger mechanism is used for flying disc by shaking
Bar emitted, and elevating mechanism is used to carry out descending operation to flying disc trigger mechanism；
The elevating mechanism includes straight line lead screw motor (7) and the second hinges, and the straight line lead screw motor (7) is living with second
Dynamic hinge is connected, and the second hinges are connect with trigger mechanism bottom plate (8), and straight line lead screw motor (7) is used for the second moveable hinge
Chain provides lifting drive, and the second hinges drive trigger mechanism bottom plate (8) to move by hinge；
The table tennis includes table tennis container (9), transmitter organization soleplate (8), friction pulley driving motor (6), friction pulley
(10), rocking bar (11) and table tennis (12), the table tennis (12) are set in table tennis container (9), the table tennis (12)
It is connect with friction pulley (10) gear, the launch angle of the table tennis (12) is stirred by rocking bar (11), the friction pulley
(10) it is connected with friction pulley driving motor (6), the transmitter organization soleplate (8) is connected with friction pulley driving motor (6),
The transmitter organization soleplate (8) is also connected by bindiny mechanism with support profile (4).
2. spontaneous emission ping-pong robot according to claim 1, which is characterized in that the support profile (4) is aluminium profiles
Material.
3. spontaneous emission ping-pong robot according to claim 1, which is characterized in that the video processing module (5) is used
Barrier is identified in by acquiring a frame image in video flowing, is converted and is calculated by coordinate, realizes monocular vision ranging,
It specifically has the following steps:
The image of acquisition is transformed into HSI spatial color model from rgb space color model, obtains HSI spatial component by S1, is turned
Change formula are as follows:
R, G, B respectively indicate red, green, blue, and H indicates the wavelength of color, referred to as
Tone；S indicates gradation of color, referred to as saturation degree；I indicates intensity or brightness；
S2 is filtered HSI spatial component, the conversion of edge detection, threshold process, Region growing segmentation, coordinate, obtains camera shooting
Coordinate of the barrier of head acquired image in world coordinate system.
4. spontaneous emission ping-pong robot according to claim 1, which is characterized in that when robot path planning adopts
When carrying out obstacle-avoiding route planning with fuzzy logic control algorithm, comprising the following steps: robot on the median vertical line of front to select
Take a seed point, left and right traverse scanning line of demarcation, the subordinating degree function of definition input and output relation, using P, two kinds of Q persons in servitude
Category degree function blurring, according to actual requirement ambiguity in definition rule base；The final movement velocity of machine is obtained using weighted mean method
With angle；
After emitting robot arrival target position, transmitting range and launch angle are set, machine adjusts pose, designs friction pulley
The height of revolving speed and elevating mechanism emits table tennis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811063624.2A CN109011499A (en) | 2018-09-12 | 2018-09-12 | A kind of spontaneous emission ping-pong robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811063624.2A CN109011499A (en) | 2018-09-12 | 2018-09-12 | A kind of spontaneous emission ping-pong robot |
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| Publication Number | Publication Date |
|---|---|
| CN109011499A true CN109011499A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811063624.2A Pending CN109011499A (en) | 2018-09-12 | 2018-09-12 | A kind of spontaneous emission ping-pong robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964697A (en) * | 2020-08-19 | 2020-11-20 | 宁波翼鲲体育用品有限公司 | Data acquisition and analysis device based on flying disc target frame |
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| CN106730714A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of table tennis training mate robot |
| CN107042021A (en) * | 2017-02-20 | 2017-08-15 | 天津工业大学 | A kind of flying disc automatic launcher |
| CN206853078U (en) * | 2017-04-16 | 2018-01-09 | 赵西堂 | Volleyball launcher |
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2018
- 2018-09-12 CN CN201811063624.2A patent/CN109011499A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730714A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of table tennis training mate robot |
| CN107042021A (en) * | 2017-02-20 | 2017-08-15 | 天津工业大学 | A kind of flying disc automatic launcher |
| CN206853078U (en) * | 2017-04-16 | 2018-01-09 | 赵西堂 | Volleyball launcher |
Non-Patent Citations (1)
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| 李庆: "《使用单目视觉的移动机器人导航方法》", 《计算机工程与应用》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964697A (en) * | 2020-08-19 | 2020-11-20 | 宁波翼鲲体育用品有限公司 | Data acquisition and analysis device based on flying disc target frame |
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Application publication date: 20181218 |
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