CN114712814B - Five-degree-of-freedom table tennis accompanying robot - Google Patents
Five-degree-of-freedom table tennis accompanying robot Download PDFInfo
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- CN114712814B CN114712814B CN202210169514.4A CN202210169514A CN114712814B CN 114712814 B CN114712814 B CN 114712814B CN 202210169514 A CN202210169514 A CN 202210169514A CN 114712814 B CN114712814 B CN 114712814B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application discloses a five-degree-of-freedom table tennis accompanying robot, which comprises a mechanical unit and a control unit; the mechanical unit comprises an automatic ball dispenser, a table tennis table, a ball screw linear module, a four-degree-of-freedom mechanical arm and a ball receiving device; the control unit comprises a vision system, a decision system and a control system; the vision system acquires the moving image of the table tennis sent by the automatic service robot to predict the track; the decision system selects a proper batting gesture decision according to track prediction, solves the inverse kinematics of the robot and transmits the solution to a motion controller in the control system; and a motion controller of the control system controls joints of the four-degree-of-freedom mechanical arm and a sliding table in the ball screw linear module to move on the table tennis table after path planning so as to drive a racket in the ball receiving device to finish horizontal linear motion and rotary motion to perform ball striking motion. The robot has enough reachable space, high batting efficiency, low operation difficulty and quick response.
Description
Technical Field
The application relates to the field of light industrial robots, in particular to a five-degree-of-freedom table tennis partner training robot.
Background
With the development of robot technology and artificial intelligence technology, the application field of intelligent robots is gradually expanded, and intelligent sports robots are also beginning to be applied from experiments. The existing ping-pong robots mainly comprise various types such as serial robots (Zhongke) and parallel robots (ohm-dragon), wherein the serial robots have multiple degrees of freedom, large reachable space, low batting efficiency, high control difficulty and slow response, and waste resources are caused; the parallel robot has smaller reachable space than the serial robot, and a plurality of balls cannot be connected, so that the parallel robot has huge volume and high price.
Meanwhile, the series-parallel table tennis robot lacks an automatic service robot, can not intuitively show the mechanical structural characteristics and the automatic control capability of the robot, and is difficult to combine with the actual situation.
The application aims to solve the problems that the prior series-connection table tennis robot has large free degree, large reachable space, low batting efficiency, high control difficulty and low response speed, and can not ensure that a racket can quickly and accurately reach a designated position to batt, and the batting receiving rate is low. The application also needs to solve the problems that the existing parallel ping-pong robot has small operation space due to limited accessible space, a plurality of balls cannot be connected back, and the robot has huge volume, large occupied space and high cost. Provides an electromechanical five-degree-of-freedom table tennis partner training robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the application aims to provide an electromechanical integrated five-degree-of-freedom table tennis training accompanying robot, which consists of a four-degree-of-freedom mechanical arm and a sliding table and horizontally moves in a degree of freedom, and is a PRRR type five-degree-of-freedom robot, so that a long, narrow, enough and effective batting reachable space is formed. Therefore, the problems of resource waste, high control difficulty, low response speed, low ball receiving rate and the like caused by large reachable space of the degree of freedom and low ball hitting efficiency are solved, and the five-degree-of-freedom table tennis partner training robot with enough reachable space, high ball hitting efficiency, low operation difficulty and high response speed is realized.
Therefore, the application provides a five-degree-of-freedom table tennis partner training robot, which comprises a mechanical unit and a control unit; the mechanical unit is provided with a four-degree-of-freedom mechanical arm and a horizontal movement self-sliding table, so as to form a PRRR type five-degree-of-freedom robot, form a long, narrow, sufficient and effective batting accessible space, and is used for receiving a control signal sent by the control unit and coordinating the cooperative work of all the components to finish batting actions; the control unit is used for judging the motion state and the motion track of the table tennis ball, generating control signals according to the motion state and the motion track of the table tennis ball, and controlling the components of the mechanical unit to finish the batting action by the control signals.
The control unit includes: a vision system, a decision making system and a control system; the visual system is provided with a binocular visual camera and is used for extracting the characteristics of the table tennis from a complex background, predicting the motion trail of the table tennis when the table tennis reaches the beatable range of the robot, and helping the decision-making system to make a correct batting decision; the decision system is provided with a PC (personal computer) and is used for receiving the table tennis movement track predicted by the vision system, deciding a proper batting position of the robot, and selecting a batting gesture decision of a proper robot joint according to different batting positions.
The control system is provided with a PC and a motion controller, the PC is a part shared by the decision system and is used for carrying out inverse kinematics solution on the batting gesture decision of the robot and transmitting the inverse kinematics solution to the motion controller, the motion controller obtains the inverse kinematics parameters of the robot solved by the PC in real time, the path planning of the robot is completed, and finally, all joints of the robot are controlled to move to complete batting actions.
Further, the mechanical unit comprises a ball screw linear module, a four-degree-of-freedom mechanical arm, a ball receiving device and an automatic ball dispenser arranged on one side of the table tennis table; the four-degree-of-freedom mechanical arm comprises a base, a first driving joint, a second driving joint, a first connecting rod, a third driving joint, a conversion joint, a second connecting rod and a fourth driving joint which are sequentially connected; wherein the ball receiving device is arranged at the tail end of the fourth driving joint; the base is arranged on the sliding block of the ball screw linear module, and the ball screw linear module is arranged on the table tennis table to drive the racket in the ball receiving device to finish horizontal linear motion and rotary motion to perform ball receiving motion.
Further, the first driving joint, the second driving joint, the third driving joint, and the fourth driving joint have the same structure, and each of them includes: the module comprises a cylindrical module shell, a joint module arranged in the module shell and a connecting end perpendicular to the module shell, wherein the output end of the joint module is coaxial with the module shell.
Further, the output end of the joint module in the first driving joint is fixedly arranged on the upper end surface of the base, the output end of the joint module in the second driving joint is connected with the connecting end of the first driving joint, the first connecting rod is fixed on the connecting end of the second driving joint, the other end of the first connecting rod is fixedly connected with the third driving joint, one end of the conversion joint is connected with the output end of the third driving joint, the other end of the conversion joint is fixedly connected with the second connecting rod, and the connecting end of the fourth driving joint is fixed on the second connecting rod; and the output end of the joint module in the fourth driving joint is connected with the ball receiving device.
Further, the ball receiving device comprises a racket fixer and a racket, one end of the racket fixer is fixed on the output end of the fourth driving joint, and the other end of the racket fixer is fixedly connected with the racket through a bolt.
Furthermore, the connecting ends of the first driving joint, the second driving joint, the third driving joint and the fourth driving joint are connected with the adjacent mechanisms in a screw fixing mode, so that the first driving joint, the second driving joint, the third driving joint and the fourth driving joint can be conveniently detached and replaced; and an end cover is further arranged on the module shell, so that the joint module is conveniently installed into the module shell and kept sealed.
Further, the ball screw linear module comprises a linear sliding table, a servo motor, a sliding block and a connecting plate, wherein the base is fixed on the connecting plate, and the connecting plate is fixed on the sliding block; the round hole is formed in the top end face of the base, and the connecting plate is detachably connected with the base, so that the wire arrangement and fixation of the base are facilitated.
Further, the automatic ball dispenser comprises a ball storage chamber, a ball delivery box, a rack, a pipeline and a ball delivery port, wherein the ball storage chamber is arranged on the upper end surface of the ball delivery box and communicated with the ball delivery box, and the ball delivery box is arranged on the rack; the lower end of the pipeline is communicated with the ball feeding box, the ball feeding port is arranged at the tail end of the pipeline, and the ball feeding port is provided with a gear mechanism for adjusting the launching angle of the ball feeding port.
Further, the binocular vision camera is a camera with two completely consistent parameters, and a convergent binocular vision system is built.
Further, the PC and the motion controller communicate through EtherCAT, and the inverse kinematics parameters of the robot solved by the PC are uploaded to the motion controller.
Further, the motion controller converts joint motion data obtained after the track planning of the batting decision processed by the PC into pulse signals to be output through an I/O port, and controls the linear sliding table and the four joint modules in the robot body to move so as to perform batting actions.
The application also provides a batting method of the five-degree-of-freedom table tennis partner training robot, which comprises the following steps:
s1: the binocular vision camera acquires the table tennis moving image in real time, extracts the table tennis characteristics from the complex background, calculates the coordinates of the table tennis moving image in a three-dimensional space, mutually verifies by using two methods of Kalman filtering and establishing a physical model to complete the track prediction of the table tennis, and finally transmits the predicted track information to the control system;
s2: the method comprises the steps of receiving visual parameters in real time, predicting the motion trail of a table tennis ball, calculating the motion parameters of the corresponding batting of the robot, deciding the proper pose of the robot, carrying out inverse kinematics solution on the batting pose decision of the robot, and then transmitting the solution to a motion controller in a control system;
s3: and the motion controller obtains the solved inverse kinematics parameters of the robot in real time, completes the path planning of the robot, and finally controls each joint of the robot to move to complete the batting action.
The five-degree-of-freedom table tennis accompanying robot provided by the application has the advantages that the four-degree-of-freedom mechanical arm and linear module structure can quickly and accurately hit balls, the installation and the maintenance are convenient, and compared with other table tennis robots, the robot has low operation difficulty, quick response and high accuracy and hit ball rate; the robot has the advantages that the reachable space of the robot is increased by fixing the mechanical arm on the linear module, the batting rate is improved, the length of the mechanical arm is reduced, and the cost is reduced; the joint module is used for controlling, so that the volume is small, the integration level is high, the EtherCAT protocol is supported by the selected module, the communication time is shortened, the control precision is improved, and the robot work is stable and reliable.
The automatic service machine is used for automatically service balls, so that structural characteristics of each aspect of the robot are effectively and intuitively represented; the binocular vision camera is used for constructing a vision system to acquire different images of the same table tennis target, so that compared with the method for calculating the three-dimensional space actual coordinates of the table tennis by using the monocular camera, the method is more convenient, quick and accurate; the three-dimensional space position of the table tennis can be detected and predicted in real time by predicting the track through two methods of Kalman filtering and establishing a physical model, the final batting position of the robot can be corrected in time, and the batting rate is improved.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The present application will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic view of the main structure of the present application when it is placed on a table;
FIG. 2 is a schematic diagram of the main structure of the automatic ball dispenser according to the present application;
FIG. 3 is a schematic view of the left side ball receiving main body structure of the present application;
FIG. 4 is a schematic view of the right side ball receiving main body structure of the present application;
FIG. 5 is a schematic view of the driving joint structure of the present application;
FIG. 6 is a diagram of a vision system architecture in accordance with the present application;
FIG. 7 is a flow chart of the trajectory prediction of the physical table tennis model of the present application;
FIG. 8 is a diagram of a control system framework of the present application;
FIG. 9 is a schematic diagram of the robot body hardware control of the present application;
FIG. 10 is a schematic diagram of a decision making method according to the present application;
FIG. 11 is a flow chart of a control unit of the present application;
FIG. 12 is a general flow chart of the present application;
fig. 13 is a flowchart of a batting method of the table tennis partner training robot according to the present application.
Description of the reference numerals
1. An automatic ball dispenser; 2. ping pong table; 3. a ball screw linear module; 4. a four degree of freedom mechanical arm; 5. a ball receiving device; 110. a ball storage chamber; 120. a ball feeding box; 130. a stand; 140. a pipe; 150. a service port; 310. a linear sliding table; 320. a slide block; 330. a connecting plate; 340. a servo motor; 410. a base; 420. a first drive joint; 430. a second drive joint; 440. a first link; 450. a third drive joint; 460. switching joints; 470. a second link; 480. a fourth drive joint; 421. a joint module; 422. a connection end; 423. a module housing; 424. an end cap; 510. a racket holder; 520. a racket.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 11, the five-degree-of-freedom table tennis accompanying robot of the application comprises a mechanical unit and a control unit; the mechanical unit is used for receiving the control signals sent by the control unit and coordinating the components to cooperatively work to finish the batting action; the control unit is used for judging the motion state and the motion track of the table tennis ball, generating control signals according to the motion state and the motion track of the table tennis ball, and controlling the components of the mechanical unit to finish the batting action by the control signals.
As shown in fig. 1, the five-degree-of-freedom table tennis accompanying robot disclosed by the application has the advantages that the mechanical unit is a PRRR-type five-degree-of-freedom robot formed by a four-degree-of-freedom mechanical arm and a sliding table, and the long, narrow, enough and effective batting reachable space is formed. The mechanical unit comprises an automatic ball dispenser 1, a table tennis table 2, a ball screw linear module 3, a four-degree-of-freedom mechanical arm 4 and a ball receiving device 5; the automatic ball dispenser 1 automatically dispenses balls on one side of a table tennis table 2, the four-degree-of-freedom mechanical arm 4 is connected with the upper end face of a sliding block of a ball screw linear module 3 fixed on the table tennis table, and the tail end of the four-degree-of-freedom mechanical arm 4 is provided with a ball receiving device 5.
Specifically, as shown in fig. 2, the automatic service machine 1 automatically service balls on one side of the table tennis table 2, the automatic service machine 1 includes a ball storage chamber 110, a ball feeding box 120, a rack 130, a pipe 140 and a service port 150, the ball storage chamber 110 is installed on the upper end surface of the ball feeding box 120 and is communicated with the ball feeding box 120, and the ball feeding box 120 is installed on the rack 130; the lower end of the pipe 140 is communicated with the ball feeding box 120, the ball feeding port 150 is arranged at the tail end of the pipe 140, and the ball feeding port 150 is provided with a gear mechanism for adjusting the launching angle of the ball feeding port 150.
As shown in fig. 3, the ball screw linear module 3 includes a linear sliding table 310, a servo motor 340, a sliding block 320, and a connecting plate 330, where the servo motor 340 horizontally installed on the right side of the linear sliding table 310 converts rotation into driving the sliding block 320 disposed on the linear sliding table 310 to perform reciprocating linear motion. The ball receiving device 5 comprises a racket fixer 510 and a racket 520, wherein one end of the racket fixer 510 is fixed on the output end of the fourth driving joint 480, and the other end of the racket fixer 510 is fixedly connected with the racket 520 through a bolt; completing horizontal rectilinear motion and four rotary motions to carry out ball catching motions.
As shown in fig. 3 to 4, the four-degree-of-freedom mechanical arm 4 includes a base 410, a first driving joint 420, a second driving joint 430, a first link 440, a third driving joint 450, a conversion joint 460, a second link 470, and a fourth driving joint 480, the base 410 is fixed on the upper surface of the connection plate 330, and the connection plate 330 is fixed on the slider.
As shown in fig. 5, the first driving joint 420, the second driving joint 430, the third driving joint 450, and the fourth driving joint 480 have the same structure, and each of them includes: the module housing 423 is cylindrical, the joint module 421 is disposed in the module housing 423, and the connection end 422 is perpendicular to the module housing 423, wherein the output end of the joint module 421 is coaxial with the module housing 423. The module housing 423 is further provided with an end cap 424 to facilitate mounting the articulation module 421 into the module housing 423 and to maintain a seal.
Specifically, the output end of the joint module 421 of the first driving joint 420 is fixedly mounted on the upper end surface of the base 410, the output end of the second driving joint 430 is fixedly connected with the connection end 422 of the first driving joint 420 through a bolt, the connection end 422 of the second driving joint 430 is fixedly connected with the first connecting rod 440, the other end of the first connecting rod 440 is fixedly connected with the third driving joint 450, one end of the conversion joint 460 is connected with the output end of the third driving joint 450, the other end of the conversion joint 460 is fixedly connected with the second connecting rod 470, and the connection end of the fourth driving joint 480 is fixedly connected with the second connecting rod 470; and the output end of the fourth driving joint 480 is connected with the ball receiving device 5.
The first driving joint 420 and the base 410 are fixedly connected by a screw, so that the first driving joint can be conveniently detached and replaced. The first driving joint 420, the second driving joint 430, the third driving joint 450, and the connecting end 422 of the fourth driving joint 480 are all connected with the adjacent mechanism by adopting a screw fixing manner, so that the assembly and the disassembly can be conveniently performed. The screw used in the device is an inner hexagon screw, and is convenient to install and maintain.
In addition, the connection plate is detachable to facilitate the wire arrangement and the fixing base 410; the top surface of the base 410 is provided with a round hole, which is convenient for wire arrangement.
Most of table tennis robots in the prior art are industrial robots, and steering engines are used for driving and controlling; the steering engine is used for driving, so that the arm structure is unstable, the control difficulty is high, the single racket is 500g in weight, the inertia is too large, and the influence on the control of each joint is too large; meanwhile, the steering engine is not enough in precision, the arm unfolding and reachable space are not enough, and the whole steering engine is not flexible.
According to the robot disclosed by the application, the PRRR-type five-degree-of-freedom robot is formed by the four-degree-of-freedom mechanical arm and the sliding table, and a long, narrow, enough and effective batting reachable space is formed. The driving joint in the four-degree-of-freedom mechanical arm 4 uses a joint module 421, and the joint module 421 generally includes: a speed reducer, a motor, an encoder, a driver, a controller, a force sensor, a band-type brake and the like; the movable joint is used for replacing the rotary joint, so that the accessible space of the robot for ineffective batting is reduced, the accessible space of the robot along the left-right direction of the table tennis table is increased, and the batting rate is improved; the linear sliding table can not only quickly reach the designated batting position, but also move stably; the joint module reduces the overall weight, reduces the control difficulty and shortens the research and development period and the design cost.
The joint module is used to save a series of complex steps and processes such as design, installation, integration, test and the like of a large number of scattered components, and a large number of working hours are not required to be consumed for using the frameless torque motor; the individual servo drivers do not need to be provided for each joint axis of the robot, and only the robot motion controller integrating the EtherCAT bus is needed.
In addition, the electric cable of joint module can directly establish ties and lay in the arm cavity inside, is different from traditional robot and hangs side by side on the arm surface, lets the robot outward appearance become very succinct. Meanwhile, the joints are not twisted and bent by a plurality of parallel cables, so that the movement load of the robot during working is reduced; the weight of the mechanical arm is reduced due to the small number of cables, and the working efficiency of the robot is improved.
As shown in fig. 6 to 11, the control unit of the five-degree-of-freedom table tennis accompanying robot of the present application includes: a vision system, a decision making system and a control system.
The vision system consists of binocular vision cameras, mainly extracts the characteristics of the table tennis balls from a complex background, predicts the motion trail of the table tennis balls when the table tennis balls reach the beatable range of the robot, and helps the decision-making system to make a correct batting decision. The decision system is composed of a PC, mainly receives the table tennis movement track predicted by the vision system, decides a proper batting position of the robot, selects batting postures of proper robot joints according to different batting positions, and then solves the batting posture decision through inverse kinematics of the robot and transmits the solution to a movement controller of the control system. The control system consists of a PC and a motion controller, mainly comprises the steps that the motion controller obtains inverse kinematics parameters of the robot solved by the PC in real time, completes path planning of the robot, and finally controls all joints of the robot to move to complete batting.
The application discloses a batting method of a five-degree-of-freedom robot, which comprises the following steps:
s1: the binocular vision camera acquires the table tennis moving image in real time, extracts the table tennis characteristics from the complex background, calculates the coordinates of the table tennis moving image in a three-dimensional space, mutually verifies by using two methods of Kalman filtering and establishing a physical model to complete the track prediction of the table tennis, and finally transmits the predicted track information to the control system;
s2: the method comprises the steps of receiving visual parameters in real time, predicting the motion trail of a table tennis ball, calculating the motion parameters of the corresponding batting of the robot, deciding the proper pose of the robot, carrying out inverse kinematics solution on the batting pose decision of the robot, and then transmitting the solution to a motion controller in a control system;
s3: and the motion controller obtains the solved inverse kinematics parameters of the robot in real time, completes the path planning of the robot, and finally controls each joint of the robot to move to complete the batting action.
Specifically, as shown in fig. 6, the vision system mainly detects the table tennis target, predicts the movement track of the table tennis when the table tennis reaches the range of the robot, and helps the decision system to make a correct batting decision.
In the vision system, the space three-dimensional coordinates of the table tennis are determined through the convergent binocular vision system, and the table tennis target is detected. The three-dimensional calibration parameter is a rotation vector R and a translation matrix T between the left camera and the right camera, and the formula is as follows:
R l and R is r And T is l And T r Respectively a rotation vector and a translation matrix between the left and right camera coordinate systems and the world coordinate system. Finally, solving the conversion process between the left camera coordinate system and the right camera coordinate system to obtain the three-dimensional space coordinates of the table tennis ball, wherein the formula is as follows:
m is the left camera coordinate system and rightTransformation matrix between camera coordinate systems, f 2 Is the right camera focal length, (x) l ,y l ,z l ) Is the three-dimensional coordinates of the table tennis ball.
Predicting the table tennis track by Kalman filtering according to the obtained three-dimensional coordinates of the table tennis, wherein the formula is as follows:
and (3) predicting:and (3) correction: />
Is the predicted state at time k,/->For the optimal predicted state at time k-1, u k-1 For the external effect on the system at time k-1, P k ' is the prediction error covariance matrix at k time, P k-1 The time error covariance matrix is K-1, A is a state transition matrix, B is an input control matrix, Q is a prediction noise covariance matrix, and K k Kalman gain at moment K, H as observation matrix, R as observation noise covariance matrix,>for the optimal prediction state at time k, +.>For the optimal predicted state at time k-1, Z k Is the observed value at the moment k, I is an identity matrix and P k And predicting an error covariance matrix for the k moment.
As shown in fig. 7, the physical model completes track prediction by establishing a flight model and a rebound model of the table tennis.
The physical model is a flight model established by analyzing the movement stress of the table tennis ball, the table tennis ball before and after rebound is fitted with the speed information in the directions of x, y and z by the flight model to obtain the rebound model, and the flight model has the following formula:
m is the mass of the table tennis, a is the acceleration of the table tennis during flying, g is the gravitational acceleration, ρ is the air density, S is the cross-sectional area of the table tennis, C D Is the air resistance coefficient and v is the instantaneous acceleration vector of the ball.
As shown in fig. 8, according to the batting gesture decision processed by the PC, each joint angle is solved by the inverse kinematics of the robot, then interpolation operation is performed on the joint angle by the quintic polynomial function and the bezier curve function, so as to obtain a path plan of the robot, and finally, each joint movement of the robot is controlled to complete batting action.
In the process of solving the inverse kinematics of the robot, the angles of all joints are sequentially solved by adopting a separation variable method for the forward kinematics equation of the robot, and the forward kinematics equation of the robot is as follows:
the homogeneous transformation matrix between adjacent connecting rods is as follows:
θ i is around z i-1 Axis from x i-1 To x i Is a rotation angle of (a); d, d i Is along z i Axis from x i-1 To x i Is a moving distance of (2); a, a i Is along x i Axis from z i-1 To z i Is a moving distance of (2); alpha i Is wound around x i Axis from z i-1 To z i Is provided.
Using the separation variant method, the inverse of the individual matrix will beThe two ends of the forward kinematics equation are multiplied by the left and the right, so that the corresponding elements on the left and the right are equal, and the variable value of each joint can be obtained.
Wherein, joint variable 1:s 3 ＝sin(θ 3 )；c 3 ＝cos(θ 3 )；p z is a known robot end effector pose.
Joint variable 2: θ 2 ＝Atan2(a y ,-a z )，a y And a z Is a known robot end effector pose.
Joint variable 3:s 4 ＝sin(θ 4 )；c 4 ＝cos(θ 4 )。
joint variable 4:s 2 ＝sin(θ 2 )；c 2 ＝cos(θ 2 )；p y 、d 5 、d 3 、p x 、d 2 、a 3 、a 4 is a known robot end effector pose.
Joint variable 5:s 3 ＝sin(θ 3 )；c 3 ＝cos(θ 3 )；p z is a known robot end effector pose.
Giving initial positions and final positions of all joints, wherein the angular speed and the angular acceleration of all joints at the beginning and the end positions of the robot are 0, and respectively carrying out interpolation operation on the joint angles by using a quintic polynomial function and a Bezier curve function to finally obtain the batting path of the robot. The formula is as follows:
polynomial function of fifth degree: θ (t) =a 0 +A 1 t+A 2 t 2 +A 3 t 3 +A 4 t 4 +A 5 t 5
Bezier curve function: p (t) = (1-t) 3 P 1 +3t(1-t) 2 P 2 +3t 2 (1-t)P 3 +t 3 P 4
As shown in fig. 9, the hardware control principle of the robot body is that the PC end sends the position information of each joint to the motion controller in real time through the EtherCAT communication interface, and the motion controller processes and converts the data into a pulse signal and sends the pulse signal to the robot body through the I/O port. The robot body comprises a linear sliding table and four joint modules. The 24V power supply is supplied with the linear sliding table servo motor to receive the pulse signal and convert the pulse signal into the displacement d for controlling the sliding block to do horizontal linear motion 1 . The joint module powered by the 48V power supply communicates through EtherCAT and outputs four angles theta in real time 2 、θ 3 、θ 4 And theta 5 And controlling the mechanical arm to move. Finally, the end effector table tennis bat of the robot is controlled to reach a designated position to hit the ball.
As shown in fig. 10, the decision system mainly receives the predicted table tennis movement track provided by the vision system, decides a suitable hitting position of the robot, and selects a hitting gesture of a suitable robot joint according to different hitting positions. The batting accessible space of the robot is an elongated accessible space at one side of the table, so that the whole batting area of the table tennis table is divided into four parts, namely, the robot has four batting postures. In the scheme, the leftmost 1/3 space of the table tennis table is set as a left area, the rightmost 1/3 space is set as a right area, the upper half part of the middle 1/3 area is set as an upper area, and the lower half part is set as a lower area. Judging which area the table tennis ball is in through the space three-dimensional coordinates of the table tennis ball, and finally deciding the hitting area of the robot.
The movement direction and the speed of the table tennis ball at the last moment can be known according to the track predicted by the vision system. According to the motion direction vector of the table tennis ballThe gesture transformation matrix of the robot coordinate system and the world coordinate system is converted into a direction vector under the robot coordinate system. Establishing a coordinate system O with the same posture as the table tennis bat on the predicted position of the last table tennis ball, and then rotating the X axis of the coordinate system to coincide with the opposite direction of the motion direction vector of the table tennis ball under the robot coordinate system to form a new coordinate system O 1 。
Therefore, the robot ball striking posture control steps are as follows:
coordinate system O when the table tennis ball is in the upper region 1 The batting gesture of the robot;
coordinate system O when the table tennis ball is in the lower region 1 The robot rotates 180 degrees around the X axis to be in a batting posture;
coordinate system O when the table tennis ball is in the left region 1 The robot rotates 90 degrees anticlockwise around the X axis to be the batting gesture of the robot;
coordinate system O when the table tennis ball is in the right zone 1 The rotation of 90 degrees clockwise around the X axis is the batting gesture of the robot.
As shown in fig. 11, the control unit firstly builds a binocular vision system through a binocular vision camera of the vision system, acquires a table tennis moving image in real time, extracts table tennis features from a complex background, calculates the actual coordinate position of the table tennis moving image in a three-dimensional space, acquires the moving parameters of the table tennis moving image, and mutually verifies by using two methods of kalman filtering and building a flight model and a physical model of the table tennis to complete track prediction of the table tennis; then, table tennis track information is transmitted to a PC, and the PC makes a batting gesture decision to complete inverse kinematics solution of the robot; and finally, the motion controller converts robot joint motion data obtained by path planning of the batting decision processed by the PC into pulse signals to be output through an I/O port, and controls the linear sliding table and the four joint modules in the robot body to act so as to finish batting.
The working principle and working process of the five-degree-of-freedom table tennis training robot of the application are briefly described below with reference to fig. 12.
The automatic ball dispenser 1 emits balls, when the table tennis ball enters the sight of the binocular vision camera, the positions of the table tennis ball are captured and fed back to the PC end, after the table tennis ball track prediction and the robot path planning, the motion controller controls the linear module motor to drive the sliding block to do horizontal motion, meanwhile, the joint module 421 drives the first joint, the second joint, the third joint and the fourth joint to do rotary motion, the racket is driven to quickly and accurately reach the predicted point to carry out batting action, and preparation is made for the next batting after the completion.
The mechanical arm has four degrees of freedom, can quickly and accurately hit balls, is convenient to install and maintain, and has enough space, high hitting effective rate, low operation difficulty and quick response compared with other table tennis robots.
According to the application, the mechanical arm is fixed on the linear module, so that the reachable space of the racket is increased, the fault tolerance and the batting rate are improved, the length of the mechanical arm is further reduced, and the control difficulty is reduced.
The application controls through the joint module, which not only has small volume and high integration level, but also the selected module supports EtherCAT protocol, shortens the communication time, improves the control precision and ensures that the robot work is stable and reliable. According to the robot, the automatic service machine automatically service balls, and the practical situation can be combined, so that structural characteristics of the robot in all aspects can be effectively and intuitively shown.
According to the application, a visual system is built through the binocular vision camera to obtain different images of the same table tennis target, and compared with the method for calculating the three-dimensional space actual coordinates of the table tennis by using the monocular camera, the method is more convenient, quicker and more accurate; the method has the advantages that the track is predicted by two methods of Kalman filtering and physical model establishment, the position of the table tennis ball can be detected and predicted in real time, the final batting position of the robot is corrected in time, and the batting rate is improved.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. A five-degree-of-freedom table tennis accompanying robot is characterized by comprising a mechanical unit and a control unit;
the mechanical unit is provided with a four-degree-of-freedom mechanical arm and a horizontal movement self-sliding table, so as to form a PRRR type five-degree-of-freedom robot, form a long, narrow, sufficient and effective batting accessible space, and is used for receiving a control signal sent by the control unit and coordinating the cooperative work of all the components to finish batting actions; the mechanical unit comprises a ball screw linear module (3), a four-degree-of-freedom mechanical arm (4), a ball receiving device (5) and an automatic ball dispenser (1) arranged on one side of the table tennis table (2);
the control unit is used for judging the motion state and the motion track of the table tennis ball, generating control signals according to the motion state and the motion track of the table tennis ball, and controlling the components of the mechanical unit to finish the batting action by the control signals; wherein the control unit includes: a vision system, a decision making system and a control system;
the visual system is provided with a binocular visual camera, is used for extracting the characteristics of the table tennis ball from a complex background, calculating the coordinates of the table tennis ball in a three-dimensional space, mutually verifying by using two methods of Kalman filtering and establishing a physical model, predicting the motion trail of the table tennis ball when the table tennis ball reaches the beatable range of the robot, and helping the decision-making system to make a correct batting decision;
the decision system is provided with a PC (personal computer) for receiving the table tennis movement track predicted by the vision system, calculating the movement parameters of the robot corresponding to the batting, deciding the proper batting position of the robot, and selecting the batting gesture decision of the proper robot joint according to different batting positions;
the control system is provided with a PC and a motion controller, wherein the PC is a part shared by the decision system and is used for carrying out inverse kinematics solution on the batting gesture decision of the robot and transmitting the inverse kinematics solution to the motion controller, the motion controller obtains inverse kinematics parameters of the robot solved by the PC in real time, then carries out interpolation operation on joint angles through a penta polynomial function and a Bezier curve function, completes path planning of the robot, and finally controls each joint of the robot to move to complete batting actions;
wherein, the table tennis ball track is predicted by Kalman filtering on the obtained three-dimensional coordinates of the table tennis ball, and the formula is as follows:
and (3) predicting:and (3) correction: />
The physical model is to build a flight model by analyzing the movement stress of the table tennis ball, and the flight model is used for fitting the position and the speed information of the table tennis ball before and after rebound in the directions of x, y and z to obtain a rebound model; the flight model formula is as follows:
in the process of solving the inverse kinematics of the robot, each joint angle is solved in sequence by adopting a separation variable method for the forward kinematics equation of the robot, and the forward kinematics equation of the robot is as follows:
the homogeneous transformation matrix between adjacent connecting rods is as follows:
inverting the individual matrix using a separate variable methodThe two ends of the forward kinematics equation are multiplied by the left and right sides to make the corresponding elements of the left and right sides equal, so that the variable value of each joint can be obtained;
wherein, joint variable 1:s 3 ＝sin(θ 3 )；c 3 ＝cos(θ 3 )；p z is the pose of the end effector of the known robot;
joint variable 2: θ 2 ＝Atan2(a y ,-a z )，a y And a z Is the pose of the end effector of the known robot;
joint variable 3:s 4 ＝sin(θ 4 )；c 4 ＝cos(θ 4 )；
joint variable 4:s 2 ＝sin(θ 2 )；c 2 ＝cos(θ 2 )；p y 、d 5 、d 3 、p x 、d 2 、a 3 、a 4 is the pose of the end effector of the known robot;
joint variable 5:s 3 ＝sin(θ 3 )；c 3 ＝cos(θ 3 )；p z is the pose of the end effector of the known robot;
the fifth order polynomial function and Bezier curve function are formulated as follows:
polynomial function of fifth degree: θ (t) =a 0 +A 1 t+A 2 t 2 +A 3 t 3 +A 4 t 4 +A 5 t 5
Bezier curve function: p (t) = (1-t) 3 P 1 +3t(1-t) 2 P 2 +3t 2 (1-t)P 3 +t 3 P 4 。
2. The five-degree-of-freedom table tennis accompanying robot of claim 1, wherein the four-degree-of-freedom mechanical arm (4) comprises a base (410), a first driving joint (420), a second driving joint (430), a first link (440), a third driving joint (450), a conversion joint (460), a second link (470), and a fourth driving joint (480) which are sequentially connected;
wherein the ball receiving device (5) is arranged at the tail end of the fourth driving joint (480); the base (410) is arranged on the sliding block of the ball screw linear module (3), and the ball screw linear module (3) is arranged on the table tennis table (2) to drive the racket (520) in the ball receiving device (5) to finish horizontal linear motion and rotary motion to perform ball receiving motion.
3. The five-degree-of-freedom table tennis accompanying robot of claim 2, wherein the first drive joint (420), the second drive joint (430), the third drive joint (450), and the fourth drive joint (480) have the same structure, each comprising: the device comprises a cylindrical module shell (423), a joint module (421) arranged in the module shell (423) and a connecting end (422) perpendicular to the module shell (423), wherein the output end of the joint module (421) is coaxial with the module shell (423).
4. The five-degree-of-freedom table tennis accompanying robot as claimed in claim 3, wherein an output end of a joint module (421) in the first driving joint (420) is fixedly installed on an upper end surface of the base (410), an output end of the joint module (421) in the second driving joint (430) is connected with a connection end (422) of the first driving joint (420), the first connecting rod (440) is fixed on the connection end (422) of the second driving joint (430), the other end of the first connecting rod (440) is fixedly connected with the third driving joint (450), one end of the conversion joint (460) is connected with an output end of the third driving joint (450), the other end of the conversion joint (460) is fixedly connected with the second connecting rod (470), and a connection end of the fourth driving joint (480) is fixed on the second connecting rod (470); and the output end of the joint module (421) in the fourth driving joint (480) is connected with the ball receiving device (5).
5. The five-degree-of-freedom table tennis accompanying robot according to claim 3, wherein the first driving joint (420), the second driving joint (430), the third driving joint (450) and the fourth driving joint (480) are connected with adjacent mechanisms by adopting a screw fixing mode, so that the robot can be conveniently detached and replaced; the module housing (423) is also provided with an end cover (424) which is convenient for installing the joint module (421) into the module housing (423) and keeping sealing.
6. The five-degree-of-freedom table tennis accompanying robot according to claim 2, wherein the ball receiving device (5) comprises a racket fixer (510) and a racket (520), one end of the racket fixer (510) is fixed on the output end of the fourth driving joint (480), and the other end of the racket fixer (510) is fixedly connected with the racket (520) through a bolt.
7. The five-degree-of-freedom table tennis accompanying robot of claim 2, wherein the ball screw linear module (3) comprises a linear sliding table (310), a servo motor (340), a slider (320), and a connection plate (330), the base (410) is fixed on the connection plate (330), and the connection plate (330) is fixed on the slider (320); the top end surface of the base (410) is provided with a round hole, and the connecting plate (330) is detachably connected with the base (410), so that the wire arrangement and the fixation of the base (410) are facilitated.
8. The five-degree-of-freedom table tennis accompanying robot according to claim 2, wherein the automatic ball dispenser (1) comprises a ball storage chamber (110), a ball delivery box (120), a rack (130), a pipeline (140) and a ball delivery port (150), the ball storage chamber (110) is mounted on the upper end surface of the ball delivery box (120) and communicated with the ball delivery box (120) which is mounted on the rack (130); the lower end of the pipeline (140) is communicated with the ball feeding box (120), the ball feeding port (150) is arranged at the tail end of the pipeline (140), and the ball feeding port (150) is provided with a gear mechanism for adjusting the launching angle of the ball feeding port (150).
9. A batting method based on the five-degree-of-freedom table tennis partner training robot as claimed in claim 1, characterized by comprising the following steps:
s1: the binocular vision camera acquires the table tennis moving image in real time, extracts the table tennis characteristics from the complex background, calculates the coordinates of the table tennis moving image in a three-dimensional space, mutually verifies by using two methods of Kalman filtering and establishing a physical model to complete the track prediction of the table tennis, and finally transmits the predicted track information to the control system;
s2: the method comprises the steps of receiving visual parameters in real time, predicting the motion trail of a table tennis ball, calculating the motion parameters of the corresponding batting of the robot, deciding the proper pose of the robot, carrying out inverse kinematics solution on the batting pose decision of the robot, and then transmitting the solution to a motion controller in a control system;
s3: and the motion controller obtains the solved inverse kinematics parameters of the robot in real time, completes the path planning of the robot, and finally controls each joint of the robot to move to complete the batting action.
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| WO2018113640A1 (en) * | 2016-12-19 | 2018-06-28 | 绍兴凯健科技有限公司 | Table tennis training robot |
| CN108939490A (en) * | 2018-10-09 | 2018-12-07 | 中科新松有限公司 | Ping-pong robot |
| CN112657159A (en) * | 2020-12-10 | 2021-04-16 | 上海理工大学 | Percussion ball integration table tennis robot based on two arm platforms |
| CN215505412U (en) * | 2021-08-03 | 2022-01-14 | 乒乓动量机器人(昆山)有限公司 | Table tennis robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018113640A1 (en) * | 2016-12-19 | 2018-06-28 | 绍兴凯健科技有限公司 | Table tennis training robot |
| CN108939490A (en) * | 2018-10-09 | 2018-12-07 | 中科新松有限公司 | Ping-pong robot |
| CN112657159A (en) * | 2020-12-10 | 2021-04-16 | 上海理工大学 | Percussion ball integration table tennis robot based on two arm platforms |
| CN215505412U (en) * | 2021-08-03 | 2022-01-14 | 乒乓动量机器人(昆山)有限公司 | Table tennis robot |
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