CN112192565A

CN112192565A - Billiards hitting device with manipulator

Info

Publication number: CN112192565A
Application number: CN202010971467.6A
Authority: CN
Inventors: 黄金杰; 高松
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2021-01-08

Abstract

The utility model provides a billiards device is hit to manipulator, by smooth desktop (1), camera (2), image processing system (3), display (4), motion control ware (5), servo driver (6), servo motor (7), two degree of freedom parallel mechanical arm (8), batting board (9), cue ball (10), target ball (11), light source (12) and unable adjustment base (13) constitute, its characterized in that: the two servo motors (7) are fixed on the fixed base (13), are respectively connected with the two servo drivers (6), and are used for realizing the control of the two-degree-of-freedom parallel mechanical arm (8); the motion controller (5), the image processing system (3) and the two servo drivers (6) are sequentially connected in series by an EtherCAT internal high-speed bus and are used for controlling the whole ball hitting process.

Description

Billiards hitting device with manipulator

Technical Field

The invention relates to the field of table tennis hitting, in particular to a device and a method for hitting table tennis by using a mechanical arm of a machine vision technology.

Background

The table tennis is more and more popular with the majority of people and becomes the recreation of people after meals, the main playing method is that a player and a player play against each other, after the player drives out a cue ball, the cue ball slides on a table top and collides with a target ball, if the target ball falls into a bag opening, the goal is successful, otherwise, the goal is failed, and the playing method related to the table tennis is also endless while the table tennis is widely popular.

At present, the playing methods of table tennis are mostly double players, the number of players is invisibly limited, and table tennis cannot be performed when only one player is available, so that the table tennis is very inconvenient.

Disclosure of Invention

Aiming at the defects of the prior art, the invention increases the challenge and interest of the table tennis sport through the confrontation of the player and the mechanical arm hitting the table tennis device, and realizes the purpose that the table tennis sport can be carried out when only one player is available.

The technical scheme of the invention is as follows: the camera collects the coordinates of a batting plate, a mother ball and a target ball on the smooth desktop, then transmits the collected coordinate value data to the motion controller, obtains an optimal batting strategy through algorithm operation in the motion controller, and finally carries out a series of rotations through a servo motor controlled by a servo driver according to the optimal batting strategy, so that the two-degree-of-freedom parallel mechanical arm makes batting actions to drive the mother ball out.

The invention has the beneficial effects that:

(1) through the confrontation of the player and the ball hitting device, the challenge and the interest of the table tennis are increased;

(2) the billiard game can be performed when only one player is available;

(3) the visual controller is used as a visual processing system, so that the coordinate data of the striking plate, the cue ball and the target ball can be transmitted to the motion controller in time, and the system is more stable.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is an image processing flow diagram of the present invention.

Detailed Description

As shown in figure 1, the camera is arranged right above the smooth desktop, the purpose is to collect images of a ball hitting plate, a cue ball and a target ball on the smooth desktop, light sources are arranged on two sides of the smooth desktop, the purpose is to facilitate image collection of the camera, the mechanical arms adopt two-degree-of-freedom parallel mechanical arms, the ball hitting plate is arranged at the front ends of the parallel mechanical arms, the purpose is to hit the cue ball, and the cue ball and the target ball are placed on the horizontal desktop.

The camera collects the image of the smooth desktop, then transmits the collected image to the image processing system, and obtains the coordinates of the batting plate, the cue ball and the target ball on the smooth desktop through setting the image processing system, and transmits the coordinate data to the motion controller to participate in the operation of the batting algorithm.

The ball hitting algorithm is stored in the motion controller and executed, the angle of the mechanical arm hitting the table ball and the size of the hitting force are obtained, then the hitting angle is converted into the coordinates of the movement of the mechanical arm, and the size of the hitting force is converted into the speed and the acceleration of the ball hitting process.

And then the servo driver is controlled by the relative motion instruction of the motion controller, the moving coordinate of the mechanical arm is converted into the rotation angle of the servo motor, and the speed and the acceleration in the batting process are converted into the rotation speed and the acceleration of the servo motor.

The two-degree-of-freedom parallel mechanical arm moves to hit a cue ball out, the cue ball collides with a target ball in the movement, and the target ball is hit into one of the bag openings.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a billiards device is hit to manipulator, by smooth desktop (1), camera (2), image processing system (3), display (4), motion control ware (5), servo driver (6), servo motor (7), two degree of freedom parallel mechanical arm (8), batting board (9), cue ball (10), target ball (11), light source (12) and unable adjustment base (13) constitute, its characterized in that: a servo motor (7) is arranged in the fixed base (13), an output shaft of the servo motor (7) is fixedly connected with a two-degree-of-freedom parallel mechanical arm (8), the striking plate (9) is fixed at the front end of the two-freedom-degree parallel mechanical arm (8), the bottom of the striking plate (9) moves parallel to the smooth desktop (1), the cue ball (10) and the target ball (11) are placed on the smooth table top (1), the light source (12) is fixed at the edge of the smooth desktop (1), the camera (2) is fixed above the smooth desktop (1) and is connected with the image processing system (3), the image processing system (3) is connected with the display (4), the motion controller (5) is connected with the image processing system (3) and the two servo drivers (6) in series in sequence, the servo motors (7) are respectively connected with the corresponding servo drivers (6).

2. A mechanical hand-operated billiards striking device according to claim 1, wherein: the camera (2) is connected with the image processing system (3) through a camera interface, the plane of the camera is parallel to the smooth desktop (1), and the view field of the camera is larger than that of the smooth desktop (1).

3. A mechanical hand-operated billiards striking device according to claim 1, wherein: the rear end of the two-freedom-degree parallel mechanical arm (8) is fixedly connected with output shafts of the two servo motors (7), and the batting plate (9) is fixed at the front end of the two-freedom-degree parallel mechanical arm (8).

4. A mechanical hand-operated billiards striking device according to claim 1, wherein: the mother ball (10) and the target ball (11) are both black homogeneous cylinders, white round paper pieces are pasted on the upper bottom surface of the mother ball (10), and white square paper pieces are pasted on the upper bottom surface of the target ball (11).

5. A mechanical hand-operated billiards striking device according to claim 1, wherein: the motion controller (5), the image processing system (3) and the two servo drivers (6) are sequentially connected in series by an EtherCAT internal high-speed bus.