CN113134224A - Multi-machine linkage intelligent high-speed service robot for table tennis - Google Patents
Multi-machine linkage intelligent high-speed service robot for table tennis Download PDFInfo
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- CN113134224A CN113134224A CN202110445301.5A CN202110445301A CN113134224A CN 113134224 A CN113134224 A CN 113134224A CN 202110445301 A CN202110445301 A CN 202110445301A CN 113134224 A CN113134224 A CN 113134224A
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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
Abstract
The invention provides a table tennis multi-machine linkage intelligent high-speed pitching machine, which comprises: more than two table tennis serving units are positioned at different serving positions; the control unit is used for controlling each table tennis serving unit to serve the table tennis in a preset time sequence; wherein each predetermined time sequence comprises a different workout session, the predetermined time sequence comprising a single ball workout; the communication unit is used for realizing data transmission between each table tennis serving unit and the control unit; when single-ball training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows: the control unit sends a single ball training instruction to the corresponding pitching machine through the serial port, and controls the pitching machine to carry out single ball operation and stop switching; the control unit receives an instruction input by a user to edit the sphericity, and after the spherical shape is edited, the spherical shape is uniformly packaged into a spherical library and uploaded to a corresponding pitching machine; the control unit further downloads a ball magazine from the service robot.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a table tennis multi-machine linkage intelligent high-speed pitching machine.
Background
The existing table tennis serving unit lacks the intelligent management of a software platform, and cannot realize the online comprehensive management of courses and athletes. The existing pitching machines are all single-machine pitching machines, and no multi-machine pitching machine with multi-machine pitching and multi-machine linkage is provided. How to design and develop a multi-machine linked pitching machine is one of the technical problems to be solved at present.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide a table tennis multi-machine linkage intelligent high-speed pitching machine.
In order to achieve the above object, an embodiment of the present invention provides a table tennis multi-machine linkage intelligent high-speed service robot, including: at least two table tennis serving units which are positioned at different serving positions;
the control unit is used for controlling each table tennis serving unit to serve the table tennis in a preset time sequence; wherein each predetermined time sequence comprises a different workout session, the predetermined time sequence comprising a single ball workout;
the communication unit is used for realizing data transmission between each table tennis serving unit and the control unit;
when single-ball training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows:
the control unit sends a single ball training instruction to the corresponding pitching machine through the serial port, and controls the pitching machine to carry out single ball operation and stop switching;
the control unit receives an instruction input by a user to edit the sphericity, and after the spherical shape is edited, the spherical shape is uniformly packaged into a spherical library and uploaded to a corresponding pitching machine;
the control unit further downloads a ball magazine from the service robot.
Furthermore, the communication unit adopts a USB-to-serial port module with a plurality of USB ports.
Further, the ball-type editing instruction includes: rotation, dynamics, pitch angle, sidespin angle, azimuth, delay gear, every group play ball number, exercise group number, rest duration.
Further, the predetermined timing sequence further includes: the training of the set of roads is carried out,
when the set-road training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows:
the control unit controls the pitching machine to carry out set-path running and stop switching to a plurality of pitching machine set-path training instructions through serial ports, and organizes the pitching of a plurality of pitching machines by combining different single balls of different pitching machines, wherein the control instruction sent to each pitching machine by the control unit is generated through an algorithm, and the algorithm is configured according to the set-path training instructions so as to realize that the set-path training content is correspondingly executed after the actions of each pitching machine are combined, and multi-machine linkage is completed.
Further, still include: and the storage unit is used for storing a plurality of preset time sequences and the processing data of the control unit.
Further, still include: the course generation module is used for generating course contents, wherein the course generation module comprises: a course practice unit, a course editing unit, wherein,
the course exercise unit is used for providing course search and course configuration functions for athletes, wherein the course configuration functions are used for configuring training courses in a preset time period of the athletes, and the course exercise unit comprises: training content, training time, training target of each class;
the course editing unit is used for providing a player with the functions of editing single ball circulation, putting on a road ball and courses, wherein the courses and the putting on the road ball are all composed of single balls, and when the player clicks to add the single ball, the player is prompted to select a ball machine, a ball library, the single ball and delay time; and providing a ball deleting function for the player and prompting a corresponding single ball index.
Furthermore, the course exercise unit is provided with a start key and a pause key, and the start and pause of the course are triggered according to the course selected by the user; provide annotation function, when the athlete selects the course, the lower part of the interface can remind the corresponding index content of the existing pitching machine
Further, still include: the log generation module is used for generating a training log record of each athlete so as to monitor the training process of each athlete; and the ball library index module is used for displaying the ball library statistical indexes and presenting the ball library statistical indexes to the athletes.
Further, still include: the athlete personality management module is used for providing training management and personal configuration functions for the athlete after the athlete logs in.
Further, the ball library statistical index comprises: the number of the ball warehouse, the type of the ball, the rotation, the force, the pitch angle, the height of the machine head, the lateral rotation, the line distance between the machine head and the ball table, the front-back distance between the machine head and the ball table, the azimuth and the time delay among balls.
According to the table tennis multi-machine linkage intelligent high-speed pitching machine provided by the embodiment of the invention, the linkage control of the three-machine linkage pitching machine is realized, the recording of training monitoring can be realized, and the debugging of the three-machine linkage high-speed intelligent pitching machine is completed. The training aid is combined with the use feedback opinions of a coach and athletes and applied to training practice to provide more effective scientific and technological services for national table tennis teams, so that the scientificity, pertinence and effectiveness of Tokyo Olympic games training in the year 2020 of preparedness are further enhanced. The invention realizes the automatic lifting of the pitching machine, reduces the noise, improves the remote controller, improves the convenience and intuition of the remote controller, improves the aesthetic property, the intelligence and the accuracy of the product, and tests the pitching speed and the rotation of the pitching machine. The multi-machine service system realizes three-machine linkage on the basis of the original single-machine high-speed service machine; software and hardware run smoothly, and a plurality of ball sets can be flexibly configured in the three machines; the operability and visualization are improved to a certain extent; the three machines can be detached and combined at will, and can be used for single machine, double machine and three machines, and can also realize multi-machine linkage of four machines, five machines and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a structural diagram of a table tennis multi-machine linkage intelligent high-speed pitching machine according to an embodiment of the invention;
FIG. 2 is a hardware architecture diagram of a table tennis multi-machine linkage intelligent high-speed service robot according to an embodiment of the invention;
FIG. 3 is an interface diagram of a lesson practice unit according to an embodiment of the invention;
FIGS. 4a and 4b are interface diagrams of a course editing unit according to an embodiment of the present invention;
FIG. 5 is an interface diagram of an athlete log module according to an embodiment of the present invention;
FIG. 6 is an interface diagram of ball library statistics according to an embodiment of the present invention;
FIG. 7 is an architecture diagram of a table tennis multi-machine linkage intelligent high-speed service robot according to an embodiment of the present invention;
FIG. 8 is a control flow chart of the intelligent high-speed pitching machine with multi-machine linkage for table tennis according to the embodiment of the invention;
FIG. 9 is a flow chart of a single ball training session according to an embodiment of the present invention;
FIG. 10 is a flow diagram of a globalization edit, according to an embodiment of the present invention;
FIG. 11 is a flow chart of uploading and downloading a ball library according to an embodiment of the present invention;
FIG. 12 is a flow chart of a road training routine according to an embodiment of the present invention;
FIG. 13 is a flow diagram of logging, according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, the table tennis multi-machine linkage intelligent high-speed pitching machine according to the embodiment of the present invention includes: at least two table tennis serving units, a communication unit 200 and a control unit 300.
It should be noted that the table tennis multi-machine linkage intelligent high-speed service robot provided by the embodiment of the invention can be applied to table tennis, badminton, tennis and the like. Moreover, the present invention is not limited to the above examples, and may be of other types, which are not described herein again.
Specifically, more than two table tennis serving units are positioned at different serving positions.
Referring to fig. 2 and 7, taking three ball serving machines as an example, the invention provides a table tennis multi-machine linkage intelligent high-speed ball serving machine, which adopts the following hardware design: the multifunctional intelligent service robot is composed of a notebook computer, a USB-to-3-channel serial port module and three service robots.
The control unit 300 is used for controlling each table tennis serving unit to serve the table tennis in a preset time sequence; wherein each predetermined sequence includes a different workout session, and the predetermined sequence includes a single-shot workout, a training session, as shown in fig. 8.
When single-ball training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows:
the control unit 300 sends a single ball training instruction to the corresponding service robot through the serial port, and controls the service robot to perform single ball operation and stop switching, as shown in fig. 9. The control unit 300 sends 0 x 01 instruction to the appointed pitching machine through the serial port, and the running and stopping switching of the single ball is carried out.
The control unit 300 receives an instruction input by a user to edit the ball shape, and after the ball shape is edited, the ball shape is uniformly packaged into a ball library and uploaded to a corresponding service robot, as shown in fig. 10 and 11.
In an embodiment of the present invention, the ball-type editing instruction includes: rotation, dynamics, pitch angle, sidespin angle, azimuth, delay gear, every group play ball number, exercise group number, rest duration.
In yet another embodiment of the present invention, the control unit 300 further downloads a ball library from the service robot.
Further, the predetermined timing sequence further includes: and (5) performing loop training.
As shown in fig. 12, when the set-road training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows:
the control unit 300 controls the service robot to carry out set-path operation and stop switching to a plurality of service robot set-path training instructions through the serial ports, the service robots can flexibly configure the service robots to output balls, and the service robots can flexibly organize the service robots to output balls by combining different single balls of different service robots. The control instruction sent by the control unit to each pitching machine is generated through an algorithm, and the algorithm is configured according to the set-path training instruction so as to correspondingly execute the set-path training content after the actions of each pitching machine are combined, and multi-machine linkage is completed.
The communication unit 200 is used for realizing data transmission between each table tennis serving unit and the control unit 300.
In the embodiment of the present invention, the communication unit 200 employs a USB to serial module with multiple USB ports.
In the embodiment of the invention, the table tennis multi-machine linkage intelligent high-speed pitching machine further comprises: a storage unit for storing a plurality of predetermined timings and processing data of the control unit 300.
In addition, the table tennis multi-machine linkage intelligent high-speed pitching machine disclosed by the invention has the envelope that: and the course generation module is used for generating course contents. Wherein, the course generates the module and includes: course exercise unit, course editor's unit.
In particular, the course training unit is configured to provide course search and course configuration functionality to the athlete. Wherein, the course configuration function is used for configuring the training course schedule of the athlete within a preset time period, comprising: training content, training time, training goals per class.
The course editing unit is used for providing the player with the functions of editing single-ball circulation, putting on a road ball and courses, wherein the courses and the putting on the road ball are all composed of single balls, and when the player clicks to add the single ball, the player is prompted to select a ball machine, a ball library, the single ball and delay time; and providing a ball deleting function for the player and prompting a corresponding single ball index. The operating system of the running environment of the invention adopts Windows 7/10, and the graphical interface adopts Qt5.5.
Specifically, the course practicing unit 1 is provided with a start key and a pause key, and according to the course selected by the user, the start and pause of the course are triggered. The course training unit 1 is further configured to provide an annotation function, and when the athlete selects the course, the lower portion of the interface reminds the corresponding index content of the existing pitching machine.
Fig. 3 is an interface diagram of the lesson practicing unit 1 according to the embodiment of the present invention.
1) The search box is arranged, so that the course can be conveniently and quickly searched;
2) after clicking the course button, the background turns blue, then clicking to start or pause, and the pitching structure executes the command after delaying for 3s, as shown in fig. 3;
3) the right side of the interface is provided with a pull-up/pull-down strip frame;
4) courses can be flexibly added and deleted, so that the tidiness of an interface is ensured, and the searching is convenient;
5) when the mouse floats on the course, the corresponding index of the existing pitching machine can be reminded below the interface.
The course editing unit 2 is used for providing the player with the functions of editing single-ball circulation, putting-on-road balls and courses, wherein the courses and putting-on-road balls are all composed of single balls, and when the player clicks to add a single ball, the player is prompted to select a ball machine, a ball library, a single ball and delay time. The course editing unit is also used for providing a ball deleting function for the player and prompting the corresponding single ball index.
Fig. 4a and 4b are interface diagrams of the course editing unit 2 according to the embodiment of the present invention.
1) The course name is displayed at the top of the interface and can be modified after clicking.
2) Course editing may edit single ball cycles (only one ball set), road balls, and courses. Wherein, course and road ball are all made up of single ball, add in proper order.
3) When the mouse floats above the ball, the right side can prompt that the mouse can be deleted, and the lower side can prompt the corresponding single-ball index.
4) After clicking on save, this course will be set to "course practice" on the home page.
5) Clicking to add a single ball will pop up the interface shown in fig. 4a and 4b, and prompt the ball selecting machine, the ball bank, the single ball and the delay time. Modifications may also be made to the stored single ball.
As shown in fig. 13, the table tennis multi-machine linkage intelligent high-speed service robot of the present invention further includes: and the log generation module is used for displaying the training log record of each athlete so as to monitor the training process of each athlete. After entering the athlete log interface, head portraits of all athletes are displayed, and log records appear after clicking. The blue dots are added on the calendar, and the training records exist. The log generation module automatically takes the courses trained on the same day according to the training subjects of the login personnel on the same day.
In an embodiment of the invention, the training log record comprises the following parameters: athlete name, training date, training subject, training type, spin-down, interval, effect, out-of-bounds, off-net, miss, and skill miss, as shown in fig. 5.
The table tennis multi-machine linkage intelligent high-speed service robot of the invention also comprises: the athlete personality management module is used for providing training management and personal configuration functions for the athlete after the athlete logs in.
The table tennis multi-machine linkage intelligent high-speed service robot of the invention also comprises: and the ball library index module is used for displaying the ball library statistical indexes and presenting the ball library statistical indexes to the athletes.
In an embodiment of the present invention, the ball bin statistical indicators include: ball store number, type of service, spin, force, pitch angle, head height, yaw, head pitch to table centerline, head to table forward and backward distance, orientation and ball to ball delay as shown in fig. 6.
In the embodiment of the invention, 1-1-1 of the first row of the ball library statistical index refers to the No. 1 single ball of the No. 1 ball library of the No. 1 ball machine. The ball library statistical indexes are arranged downwards according to the first row sequence of the left number.
According to the table tennis multi-machine linkage intelligent high-speed pitching machine provided by the embodiment of the invention, the linkage control of the three-machine linkage pitching machine is realized, the recording of training monitoring can be realized, and the debugging of the three-machine linkage high-speed intelligent pitching machine is completed. The training aid is combined with the use feedback opinions of a coach and athletes and applied to training practice to provide more effective scientific and technological services for national table tennis teams, so that the scientificity, pertinence and effectiveness of Tokyo Olympic games training in the year 2020 of preparedness are further enhanced. The invention realizes the automatic lifting of the pitching machine, reduces the noise, improves the remote controller, improves the convenience and intuition of the remote controller, improves the aesthetic property, the intelligence and the accuracy of the product, and tests the pitching speed and the rotation of the pitching machine. The multi-machine service system realizes three-machine linkage on the basis of the original single-machine high-speed service machine; software and hardware run smoothly, and a plurality of ball sets can be flexibly configured in the three machines; the operability and visualization are improved to a certain extent; the three machines can be detached and combined at will, and can be used for single machine, double machine and three machines, and can also realize multi-machine linkage of four machines, five machines and the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a high-speed service robot of table tennis multimachine linkage intelligence which characterized in that includes:
at least two table tennis serving units which are positioned at different serving positions;
the control unit is used for controlling each table tennis serving unit to serve the table tennis in a preset time sequence; wherein each predetermined time sequence comprises a different workout session, the predetermined time sequence comprising a single ball workout;
the communication unit is used for realizing data transmission between each table tennis serving unit and the control unit;
when single-ball training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows:
the control unit sends a single ball training instruction to the corresponding pitching machine through the serial port, and controls the pitching machine to carry out single ball operation and stop switching;
the control unit receives an instruction input by a user to edit the sphericity, and after the spherical shape is edited, the spherical shape is uniformly packaged into a spherical library and uploaded to a corresponding pitching machine;
the control unit further downloads a ball magazine from the service robot.
2. The table tennis multi-machine linkage intelligent high-speed pitching machine of claim 1, wherein the communication unit adopts a USB-to-serial port module with multiple USB ports.
3. The table tennis multi-machine linkage intelligent high-speed service robot of claim 1, wherein the ball-type editing instructions comprise: rotation, dynamics, pitch angle, sidespin angle, azimuth, delay gear, every group play ball number, exercise group number, rest duration.
4. The table tennis multi-unit linkage intelligent high-speed service robot of claim 1, wherein the predetermined timing sequence further comprises: the training of the set of roads is carried out,
when the set-road training is adopted, the working process of the table tennis multi-machine linkage intelligent high-speed pitching machine is as follows:
the control unit controls the pitching machine to carry out set-path running and stop switching to a plurality of pitching machine set-path training instructions through serial ports, and organizes the pitching of a plurality of pitching machines by combining different single balls of different pitching machines, wherein the control instruction sent to each pitching machine by the control unit is generated through an algorithm, and the algorithm is configured according to the set-path training instructions so as to realize that the set-path training content is correspondingly executed after the actions of each pitching machine are combined, and multi-machine linkage is completed.
5. The table tennis multi-machine linkage intelligent high-speed service robot of claim 1, further comprising: and the storage unit is used for storing a plurality of preset time sequences and the processing data of the control unit.
6. The table tennis multi-machine linkage intelligent high-speed service robot of claim 1, further comprising: the course generation module is used for generating course contents, wherein the course generation module comprises: a course practice unit, a course editing unit, wherein,
the course exercise unit is used for providing course search and course configuration functions for athletes, wherein the course configuration functions are used for configuring training courses in a preset time period of the athletes, and the course exercise unit comprises: training content, training time, training target of each class;
the course editing unit is used for providing the player with the functions of editing single ball circulation, putting on a road ball and courses, wherein the courses and putting on the road ball are all composed of single balls, and after the player clicks to add the single ball, the player is prompted to select a ball machine, a ball library, the single ball and delay time; and providing a ball deleting function for the player and prompting a corresponding single ball index.
7. The table tennis multi-machine linkage intelligent high-speed pitching machine of claim 6, wherein the course training unit is provided with a start key and a pause key, and the start and pause of the course are triggered according to the course selected by the user; and an annotation function is provided, and after the athlete selects the course, the lower part of the interface can remind the corresponding index content of the existing pitching machine.
8. The table tennis multi-machine linkage intelligent high-speed service robot of claim 1, further comprising:
the log generation module is used for generating a training log record of each athlete so as to monitor the training process of each athlete;
and the ball library index module is used for displaying the ball library statistical indexes and presenting the ball library statistical indexes to the athletes.
9. The table tennis multi-machine linkage intelligent high-speed service robot of claim 1, further comprising: the athlete personality management module is used for providing training management and personal configuration functions for the athlete after the athlete logs in.
10. The table tennis multi-machine-linked intelligent high-speed service robot of claim 1, wherein the ball magazine statistical indicators comprise: the number of the ball warehouse, the type of the ball, the rotation, the force, the pitch angle, the height of the machine head, the lateral rotation, the line distance between the machine head and the ball table, the front-back distance between the machine head and the ball table, the azimuth and the time delay among balls.
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| CN202110445301.5A CN113134224A (en) | 2021-04-25 | 2021-04-25 | Multi-machine linkage intelligent high-speed service robot for table tennis |
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| CN101147040A (en) * | 2005-03-21 | 2008-03-19 | 张和 | Digitally controlled, user programmable and field relocatable table tennis robot |
| CN201389322Y (en) * | 2009-04-30 | 2010-01-27 | 河南科技大学 | Pitching machine and a multi-machine pitching system formed thereby |
| CN107803010A (en) * | 2016-09-08 | 2018-03-16 | 张镜如 | A kind of table tennis training system |
| KR102053903B1 (en) * | 2018-11-27 | 2019-12-09 | 아미르 카만디 | Table tennis training device |
| CN111558215A (en) * | 2018-07-30 | 2020-08-21 | 蚌埠珠领智能科技有限公司 | Application of control device of table tennis serving machine in training of moving speed of feet of sportsman |
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2021
- 2021-04-25 CN CN202110445301.5A patent/CN113134224A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101147040A (en) * | 2005-03-21 | 2008-03-19 | 张和 | Digitally controlled, user programmable and field relocatable table tennis robot |
| CN201389322Y (en) * | 2009-04-30 | 2010-01-27 | 河南科技大学 | Pitching machine and a multi-machine pitching system formed thereby |
| CN107803010A (en) * | 2016-09-08 | 2018-03-16 | 张镜如 | A kind of table tennis training system |
| CN111558215A (en) * | 2018-07-30 | 2020-08-21 | 蚌埠珠领智能科技有限公司 | Application of control device of table tennis serving machine in training of moving speed of feet of sportsman |
| KR102053903B1 (en) * | 2018-11-27 | 2019-12-09 | 아미르 카만디 | Table tennis training device |
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