CN206518826U - Emulate service robot and batting video acquisition diagnostic system - Google Patents

Abstract

The utility model is related to a kind of emulation service robot and batting video acquisition diagnostic system, bat manipulator emulation service robot is held there is provided one kind, manipulator (1) is clapped by holding, gravity sends controlling organization (2) for ball, batting rotation control mechanism (3) and coordination controlling organization (4) composition, it is characterized in that described hold claps the port of export that manipulator (1) sends controlling organization (2) positioned at gravity for ball, batting rotation control mechanism (3) is arranged at bat manipulator (1) place, coordination controlling organization (4) electrical connection batting rotation control mechanism (3) and gravity send controlling organization (2) for ball, batting rotation control mechanism (3) claps manipulator (1) control to holding, complete delivery of service.

Description

Emulate service robot and batting video acquisition diagnostic system

Technical field

The utility model is related to training field, more particularly to a kind of emulation service robot and batting video acquisition diagnostic system.

Background technology

The sports events that table tennis is all liked as many people, for common amateur, most people is only Only it is that, based on the skill that exchange study is grasped between some individuals, but can seldom receive the training of specialty.For professional table tennis For pang ball player, the training of current basic unit's table tennis basic technology action is dominated mainly by the teaching and judgement of coach. But be due to coach itself level and teaching level it is uneven, the effect of acquirement also differs greatly.Although promoting Basic unit coach, which trains, can alleviate this problem to a certain extent, but the technical movements detecting system of absent standardized, still It is difficult thoroughly to solve because people understand that technical movements the training effect that difference is produced ensures problem.

Also there are some to be used for the service robot of grounding in the market, but more using injecting type service, the ball sent It is too big all with the gap actually played ball from strength, speed or rotation, and because existing service robot is using injecting type hair Ball, shot of not swinging the bat, batting people can not judge property, it is impossible to set up the conditioned reflex to heterogeneity ball, So the raising to technical ability of batting almost does not have effect.Existing service robot is only suitable for body-building recreation, it is impossible to be used as specialty Training assistant is widely used.

Utility model content

The technical problems to be solved in the utility model is to provide a kind of emulation service robot and batting video acquisition diagnostic system, To solve the problem of existing service robot can not be as professional training assistant.People can be helped to bat to heterogeneity ball Set up the condition reflects, and improves batting technical ability, adds the sense of reality that training of human is played ball.

The utility model solves its technical problem using following technical scheme to realize.

The utility model holds bat manipulator emulation service robot there is provided one kind, is sent and is controlled for ball by holding bat manipulator 1, gravity Mechanism 2 processed, batting rotation control mechanism 3 and coordination controlling organization 4 are constituted, it is characterised in that described to hold 1, manipulator of bat The port of export of controlling organization 2 is sent for ball in gravity, batting rotation control mechanism 3, which is arranged at, to be held at bat manipulator 1, the batting Rotation control mechanism 3 includes being arranged on the spinning movement steering wheel 31 and fore-aft motion steering wheel 32 held and clapped at manipulator 1, coordination The electrical connection of controlling organization 4 batting rotation control mechanism 3 and gravity send controlling organization 2 for ball, and 3 pairs of rotation control mechanism of batting is held Clap manipulator 1 to control, complete delivery of service.

Preferably, the spinning movement steering wheel 31 includes rotary part, and the rotary part connects with motor and swing arm respectively Connect, and the set location detector in swing arm, spinning movement steering wheel 31 to the front/rear electric signal rotated to an angle by driving Revolution, and then drive rotary part that power is reached into swing arm drive racket, make face from vertical 90 degree of position forward/backwards 0-60 degree is rotated, while sending signal back to coordination controlling organization 4 by position detector, judges whether rotational angle has arrived Up to positioning；

The fore-aft motion steering wheel 32 includes waving pendulum part, and the pendulum part of waving is connected with motor and swing arm respectively, and Set location detector in swing arm, described wave puts part by being rotated to the front/rear electric signal drive motor for waving pendulum certain angle, And then drive waves pendulum part and racket forward/backward is waved pendulum 0-60 degree, while sending signal back to coordination by position detector Controlling organization 4, judgement waves whether pendulum has arrived at positioning；Control of the fore-aft motion steering wheel 32 in coordination controlling organization 4 Pendulum is waved with adjustable-speed per minute 30-100 times under system.

Preferably, the gravity sends controlling organization 2 for ball includes ball storage hopper 21, is connected to the section of the port of export of ball storage hopper 21 Controller 22 is played, the gravity of the port of export of rhythm controller 22 is connected to and sends track 23 for ball, the gravity sends track for ball Bat manipulator 1 is held in 23 exit, setting.

Preferably, the rhythm controller 22 loses disk 221 by rhythm and mill pace control motor 222 is constituted, the rhythm Lose disk 221 bore dia of losing more than 43mm, the electrical connection mill pace control of coordination controlling organization 4 motor 222 is so as to rotating Rhythm is lost disk 221, and ball is stirred from ball storage hopper 21 with 30-100 beats/min of speed according to the release rhythm of setting and falls into weight Power sends track 23 for ball.

Preferably, the gravity sends track 23 for ball and is connected with the bottom surface of ball storage hopper 21 in 30-60 degree angle, and the gravity is supplied Ball sends the cylinder for being shaped as diameter 41-45mm of track 23, can be made of metal or plastics.Sent out when ball falls into gravity for ball Send and rely on gravity to roll mouth under eventually off track along the track tilted down after track 23, and dependence inertia send to fall on and holds bat On the racket 1 of manipulator；

Preferably, the coordination controlling organization 4 include electrically connected with rhythm controller 22 mill pace control circuit 41, The spinning movement helm control circuit 42 electrically connected with spinning movement steering wheel 31, is moved before and after being electrically connected with fore-aft motion steering wheel 32 Make helm control circuit 43.

The utility model additionally provides a kind of batting video acquisition diagnostic system for including above-mentioned emulation service robot, described to hit Ball video acquisition diagnostic system also includes shot video acquisition module 5, standardized technique action data information storage center 6th, technical movements are exerted oneself behavioural analysis module 7 and wireless evaluation and test feedback module 8, and the shot video acquisition module 5 is configured To gather the action message of batting people, and it is sent to standardized technique action data information storage center 6, technical movements Lixing It is configured to compare the action message for the people that bats with standard operation information for analysis module 7, evaluates and provide improvement and instruct, pass through Wireless evaluation and test feedback module 8 feeds back to batting people.

Preferably, the shot video acquisition module 5 includes 5 cameras, is separately positioned on emulation service robot Side and back upper place, upper left side, upper right side, the surface of batting people, wherein, the camera of the batting people back upper place is located at batting Apart from the intermediate point 2.5-3.5M backward of end line after the person, apart from ground 0.8-1.5M position；Batting people's upper right The camera of side is located at batting people right side of trunk 2.5-3M, apart from ground 0.8-1.5M position；The batting people upper right side Camera is located at batting people left side of trunk 2.5-3M, the shooting directly over ground 0.8-1.5M position, the batting people The camera that head is located in front of batting people's overhead position perpendicular to the ground apart from 2.5-3M, the emulation service robot is located at Hold the position for clapping 0.1-0.3M above manipulator service robot racket；And except the video for the camera being arranged on above emulation service robot Information acquisition module is irremovable outer, and the video information acquisition module of other cameras is each configured to can be according to batting people in billiard table Preceding position is moved, and adjusts to technical movements the station acquisition information for the requirement of behavioural analysis module 7 of exerting oneself.

Preferably, wireless evaluation and test feedback module 8 is configured to diagnostic data can be uploaded into standardization by mobile Internet Technical movements data message store center 6, and by the storage center 6 be sent to mobile phone app feed back to by batting people.

Preferably, standardized technique action data information storage center 6 is configured to the video of the shot of storage standard Digital information, and storage fresh information can be continuously increased.

The utility model has clear advantage and beneficial effect compared with prior art.By above-mentioned technical proposal, sheet Utility model at least has following advantages and beneficial effect：

1. provided by the utility model hold bat manipulator emulation service robot, the batting hair of apish arm can be made Ball is acted, and improves the sense of reality that training of human is played ball, and can effectively help people's identification ball of different nature of batting, it is established that Batsmanship conditioned reflex is rapid to improve batsmanship ability；In addition, the service robot can also replace coach's service, assist Coach improves training effectiveness and quality.

2. the utility model continuously sends the basically identical ball of performance using table tennis simulated ball serving machine, set using five In video frequency pick-up head collection batting people's shot information of ad-hoc location, and communicate information to standardized technique action message Storage center, the standard operation data for behavioural analysis module control information centre storage of being exerted oneself by technical movements, is evaluated And propose to improve foundation, batting people is fed back to by wireless network, bat people and coach's raising instruction can be accurately and efficiently helped Practice efficiency and training quality, the rationalization degree for the rapid lift technique action of people that helps to bat.

3. camera video information acquisition module of the present utility model can be automatically adjusted to software analysis required standard position Put and shot, the details of training of human shot, institute can more accurately be gathered by being shot than existing fixed position The evaluation result drawn is more accurate.

4. in the utility model, standardized technique action data information storage center possesses the reasonable shot of collection Relevant information, and with the function of being continuously increased storage fresh information, the problem of solving information storage fragmentation, and can be according to not With the historic training data of batting people, the intensive training in terms of carrying out weakness for different batting people.

5. technical movements of the present utility model are exerted oneself, behavioural analysis module can be by compareing the standard that information centre stores Action data is evaluated, or gives authoritative specialized coaches to diagnose or remotely taught using wireless evaluation and test feedback module teletransmission Learn and instruct, suggested improvements after analysis.Save huge cost compared to traditional on-the-spot guidance, and compared to it is existing according to By coach personal experience diagnose mode for, no matter from efficiency, in the level of training, training cost on or evaluate All it is significantly improved in accuracy, allows batting people to enjoy the training quality of more high-quality with lower input cost.

Brief description of the drawings

Fig. 1 is to hold to clap the front view that manipulator emulates service robot；

Fig. 2 is to hold to clap the left side view that manipulator emulates service robot；

Fig. 3 is to hold to clap the right side view that manipulator emulates service robot；

Fig. 4 is that have holding for ball-collecter to clap the top view that manipulator emulates service robot；

Fig. 5 is that holding for no ball-collecter claps the top view that manipulator emulates service robot；

Fig. 6 is to hold to clap the circuit control schematic diagram that manipulator emulates service robot；

Fig. 7 is the top view of batting video acquisition diagnostic system；

Fig. 8 is the side view of batting video acquisition diagnostic system；

Fig. 9 is to hold bat manipulator emulation service robot racket batting simulated actions schematic diagram；

Figure 10 is the information gathering of batting video acquisition diagnostic system, is transmitted, processing, feedback line figure.

【Primary clustering symbol description】

1：Hold bat manipulator 2：Gravity sends controlling organization for ball

3：Batting rotation control mechanism 4：Coordination controlling organization

5：Shot video acquisition module 6：Standardized technique action data information stores center

7：Technical movements are exerted oneself behavioural analysis module 8：Wireless evaluation and test feedback module

21：Ball storage hopper 22：Rhythm controller

221 rhythm are lost the mill pace control motor of disk 222

23：Gravity sends track 31 for ball：Spinning movement steering wheel

32：Fore-aft motion steering wheel 41：Mill pace control circuit

42：Spinning movement helm control circuit 43：Fore-aft motion helm control circuit

Embodiment

Further to illustrate that the utility model is to reach technological means and effect that predetermined utility model purpose is taken, Below in conjunction with accompanying drawing and preferred embodiment, to according to the utility model proposes emulation service robot and batting video acquisition diagnosis be Embodiment, structure, feature and its effect of system, are described in detail as after.

Embodiment one

Referring to the drawings 1,2,3,4,6, present embodiments provide one kind and hold bat manipulator emulation service robot, by holding bat manipulator 1st, gravity sends controlling organization 2, batting rotation control mechanism 3 and coordination controlling organization 4 for ball and constituted, and holds bat manipulator 1 The port of export of controlling organization 2 is sent for ball positioned at gravity, batting rotation control mechanism 3, which is arranged at, to be held at bat manipulator 1, coordinates dynamic Make the electrical connection of controlling organization 4 batting rotation control mechanism 3 and gravity sends controlling organization 2 for ball.In coordination controlling organization 4 Coordination control under, gravity for ball send controlling organization 2 using table tennis gravity to hold clap manipulator 1 supply ball, hold bat machinery Hand 1 under the control of batting rotation control mechanism 3, rotation in transmission, backspin, left side spin, right side rotation, left side topspin, left side underspin, The ball of the various properties such as right side topspin, right side underspin.

Wherein, gravity sends controlling organization 2 for ball includes ball storage hopper 21, is connected to the mill pace control of the port of export of ball storage hopper 21 Device 22, the gravity for being connected to the port of export of rhythm controller 22 send the outlet of track 23 for ball for ball transmission track 23 in gravity Bat manipulator 1 is held in place, setting.Ball storage hopper 21 is used to store table tennis, and rhythm controller 22 is used to control to supply ball speed and rhythm, Gravity provides supporting track for ball transmission track 23 for table tennis guiding to be held into bat manipulator 1.

Gravity sends track 23 for ball and is connected with the bottom surface of ball storage hopper 21 in 30-60 degree angle, and gravity sends track 23 for ball It is shaped as diameter 41-45mm metallic cylinder (can also be made up of plastics).When ball fall into gravity for ball send track 23 after according to Mouth under eventually off track is rolled along the track tilted down by gravity, and the racket for falling on and holding and clapping manipulator is sent by inertia On 1.

Batting rotation control mechanism 3 includes being arranged on the spinning movement steering wheel 31 and fore-aft motion rudder held and clapped at manipulator 1 Machine 32.Spinning movement steering wheel 31 includes rotary part, and the rotary part is connected with motor and swing arm respectively, and is set in swing arm Seated position detector, spinning movement steering wheel 31 to the front/rear electric signal drive motor rotated to an angle by rotating, and then band Power is reached swing arm and drives racket by dynamic rotary part, face is rotated 0-60 degree from vertical 90 degree of positions forward/backward, simultaneously Signal is sent back to coordination controlling organization 4 by position detector, judges whether rotational angle has arrived at positioning；

The fore-aft motion steering wheel 32 includes waving pendulum part, and the pendulum part of waving is connected with motor and swing arm respectively, and Set location detector in swing arm, described wave puts part by being rotated to the front/rear electric signal drive motor for waving pendulum certain angle, And then drive waves pendulum part and racket forward/backward is waved pendulum 0-60 degree, while sending signal back to coordination by position detector Controlling organization 4, judgement waves whether pendulum has arrived at positioning；Control of the fore-aft motion steering wheel 32 in coordination controlling organization 4 Pendulum is waved with adjustable-speed per minute 30-100 times under system.Spinning movement steering wheel 31 for control hold bat manipulator 1 complete upwards, Downwards, the shot of upper left, lower-left, upper right, bottom right.Fore-aft motion steering wheel 32 holds bat manipulator 1 for control and completes required The shot forward, backward of level height.

Coordination controlling organization 4 includes mill pace control circuit 41 and the spinning movement electrically connected with rhythm controller 22 The spinning movement helm control circuit 42 that steering wheel 31 is electrically connected, the fore-aft motion servos control electrically connected with fore-aft motion steering wheel 32 Circuit 43, is respectively used to control the speed and rhythm of rhythm controller 22, the shot of spinning movement steering wheel 31 and front and rear dynamic Make the shot of steering wheel 32.

Rhythm controller 22 loses disk 221 by rhythm and mill pace control motor 222 is constituted, and rhythm is lost the losing of disk 221 Bore dia is 43mm, and the electrical connection mill pace control of coordination controlling organization 4 motor 222 is lost disk 221 so as to rotate rhythm, according to The release rhythm of setting, which is stirred ball from ball storage hopper 21 with 30 beats/min of speed, falls into gravity for ball transmission track 23.

Set and start mill pace control circuit 41, spinning movement helm control circuit 42, and fore-aft motion servos control electricity Table tennis in ball storage hopper 21 is discharged into gravity with 30 beats/min of the speed set and sent out for ball by road 43, rhythm controller 22 Track 23 is sent, table tennis supplies ball to bat manipulator 1 is held for ball transmission track 23 along gravity, holds bat manipulator 1 dynamic by rotation The action that 0-60 degree is rotated from vertical 90 degree of positions forward/backward is done in the rotary part rotation control racket face for making steering wheel 31, The pendulum component controls racket forward/backward of waving of fore-aft motion steering wheel 32 waves pendulum 0-60 degree, and fore-aft motion steering wheel 32 is coordinating dynamic Make under the control of controlling organization 4 to wave pendulum with the speed of 30 times per minute.Bat manipulator 1 is held in spinning movement steering wheel 31 and front and rear dynamic Different types of shot is completed under the collective effect for making steering wheel 32.

Embodiment two

The present embodiment and embodiment one are essentially identical, the difference is that only in the present embodiment, and gravity sends control for ball Mechanism 2 is free of ball storage hopper 21, and ball is supplied to rhythm controller 22 by manual type or other external supplying device of ball.

The rhythm set in rhythm controller 22 lose disk 221 bore dia of losing for 53mm, coordination controlling organization 4 Ball is stirred by electrical connection mill pace control motor 222 with 100 beats/min of speed according to the release rhythm of setting from ball storage hopper 21 Enter gravity and send track 23 for ball.

Hold during bat manipulator service, fore-aft motion steering wheel 32 is under the control of coordination controlling organization 4 with every point The speed that clock is 100 times waves pendulum.Bat manipulator 1 is held to complete under the collective effect of spinning movement steering wheel 31 and fore-aft motion steering wheel 32 Different types of shot.

Gravity sends track 23 for ball and is connected with the bottom surface of ball storage hopper 21 in 60 degree of angles, and gravity sends the shape of track 23 for ball For diameter 45mm plastic cylinder.

Embodiment three:

The present embodiment and embodiment one are essentially identical, the difference is that only in the present embodiment, are set in rhythm controller 22 The rhythm put lose disk 221 bore dia of losing for 63mm, the electrical connection mill pace control of coordination controlling organization 4 motor 222 is pressed According to setting release rhythm ball is stirred from ball storage hopper 21 with 70 beats/min of speed fall into gravity for ball send track 23.

Hold during bat manipulator service, fore-aft motion steering wheel 32 is under the control of coordination controlling organization 4 with every point The speed that clock is 70 times waves pendulum.Bat manipulator 1 is held to complete under the collective effect of spinning movement steering wheel 31 and fore-aft motion steering wheel 32 Different types of shot.

Gravity sends track 23 for ball and is connected with the bottom surface of ball storage hopper 21 in 45 degree of angles, and gravity sends the shape of track 23 for ball For diameter 43mm plastic cylinder.

Example IV

A kind of batting video acquisition diagnostic system, including foregoing emulation service robot are present embodiments provided, shot is regarded Frequency acquisition module 5, standardized technique action data information storage center 6, technical movements exert oneself behavioural analysis module 7 and wirelessly to comment Survey feedback module 8.Shot video acquisition module 5 in diverse location according to setting 5 cameras, tool the need for data analysis Body is separately positioned on back upper place, upper left side, upper right side, the surface with batting people above emulation service robot, wherein, after batting people The camera of top is located at the intermediate point 2.5M backward apart from end line after the batting person, apart from ground 1.5M position；Institute The camera for stating batting people upper right side is located at batting people right side of trunk 2.5M, apart from ground 1.5M position；The batting people is right The camera of top is located at batting people left side of trunk 2.5M, the shooting directly over ground 1.5M position, the batting people The camera that head is located in front of batting people's overhead position perpendicular to the ground apart from 2.5M, the emulation service robot, which is located at, to be held Clap the position of 0.1M above manipulator service robot racket；And except the video information for the camera being arranged on above emulation service robot is adopted Collection module is irremovable outer, and the video information acquisition module of other cameras is each configured to position that can be according to batting people before billiard table Put and move, and adjust to technical movements the station acquisition information for the requirement of behavioural analysis module 7 of exerting oneself.

The action message of above-mentioned 5 cameras collection batting people, and it is sent to the storage of standardized technique action data information Center 6.The digital video information of the shot of the standardized technique action data information storage storable standard in center 6, and Storage fresh information can be continuously increased, is moved by the exert oneself action message of 7 pairs of behavioural analysis module batting people of technical movements with standard Make information comparison, evaluate and provide improvement and instruct, batting people is fed back to by wirelessly evaluating and testing feedback module 8.

Wherein, the camera of shot video acquisition module 5 can be moved according to position of the batting people before billiard table, And the station acquisition impact information for the requirement of behavioural analysis module 7 of exerting oneself is adjusted to technical movements, to improve the accurate of analysis and evaluation Degree.

Standardized technique action data information stores the historic training data that center 6 can be according to batting people, and analysis is somebody's turn to do The level of skill and weak tendency technical ability of batting people, the intensive training in terms of carrying out weakness for batting people.

Diagnostic data can be uploaded standardized technique action data information by wireless evaluation and test feedback module 8 by mobile Internet Storage center 6, and by the storage center 6 be sent to mobile phone app feed back to by batting people.Wireless evaluation and test feedback module 8 is also Authoritative specialized coaches can be given to diagnose or carry out online remote teaching guidance with teletransmission, and the improvement idea of proposition is fed back to Bat people.

Embodiment five

The present embodiment is essentially identical with example IV, and its difference is：Shot video acquisition module 5 is according to data The need for analysis diverse location set 5 cameras, be specifically separately positioned on emulation service robot above and batting people it is rear on Side, upper left side, upper right side, surface, wherein, the camera of batting people back upper place is located at after the batting person apart from end line Intermediate point 3.5M, the position apart from ground 0.8 backward；The camera in the batting people upper right side is located at batting people's right side of trunk 3M, the position apart from ground 0.8；The camera in the batting people upper right side is located at batting people left side of trunk 3M, apart from ground 0.8 Position, the camera directly over the batting people is located at batting people's overhead position perpendicular to the ground apart from 3M, described Camera in front of emulation service robot is located at the position held and clap 0.3M above manipulator service robot racket；

Embodiment six

The present embodiment is essentially identical with example IV, and difference is in the present embodiment, shot video acquisition mould Block 5 is specifically separately positioned on above emulation service robot and hit according to 5 cameras are set in diverse location the need for data analysis Back upper place, upper left side, upper right side, the surface of ball people, wherein, the camera of batting people back upper place is located at distance after the batting person The intermediate point of end line 3M backward, apart from ground 1.2M position；The camera in the batting people upper right side is located at batting people Right side of trunk 2.8M, apart from ground 1.2M position；The camera in the batting people upper right side is located at batting people's left side of trunk 2.8M, it is perpendicular to the ground that the camera directly over ground 1.2M position, the batting people is located at batting people's overhead Apart from 2.8M position, the camera in front of the emulation service robot is located at the position held and clap 0.2M above manipulator service robot racket Put；

It is described above, only it is preferred embodiment of the present utility model, not makees any formal to the utility model Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, any ripe Know professional and technical personnel, do not departing from the range of technical solutions of the utility model, when the method using the disclosure above and Technology contents make a little change or are modified to the equivalent embodiment of equivalent variations, and equivalent variations of the present utility model are not excluded for Technology of the present utility model is applied to the training of shuttlecock etc., as long as being the content without departing from technical solutions of the utility model, Any simple modification, equivalent variations and the modification made according to technical spirit of the present utility model to above example, still belong to In the range of technical solutions of the utility model.

Claims (10)

1. one kind holds bat manipulator emulation service robot, revolved by holding bat manipulator (1), gravity for ball transmission controlling organization (2), batting Turn controlling organization (3) and coordination controlling organization (4) composition, it is characterised in that the bat manipulator (1) of holding is supplied positioned at gravity Ball sends the port of export of controlling organization (2), and batting rotation control mechanism (3) is arranged at bat manipulator (1) place, the batting rotation Controlling organization (3) includes being arranged on the spinning movement steering wheel (31) and fore-aft motion steering wheel (32) held and clap manipulator (1) place, coordinates Action control mechanism (4) electrical connection batting rotation control mechanism (3) and gravity send controlling organization (2), batting rotation control for ball Mechanism (3) processed claps manipulator (1) control to holding, and completes delivery of service.

2. one kind holds bat manipulator emulation service robot according to claim 1, it is characterised in that the spinning movement steering wheel (31) rotary part is included, the rotary part is connected with motor and swing arm respectively, and the set location detector in swing arm, rotation Rotation makees steering wheel (31) by being rotated to the electric signal drive motor of front/rear rotation 0-60 degree, and then drives rotary part dynamic Power reaches swing arm and drives racket, face is rotated 0-60 degree from vertical 90 degree of positions forward/backward, while will by position detector Signal sends coordination controlling organization (4) back to, judges whether rotational angle has arrived at positioning；

The fore-aft motion steering wheel (32) includes waving pendulum part, and the pendulum part of waving is connected with motor and swing arm respectively, and in pendulum Set location detector on arm, described wave puts part by being rotated to the front/rear electric signal drive motor for waving pendulum 0-60 degree, and then Pendulum part is waved in drive makes racket forward/backward wave pendulum 0-60 degree, while sending signal back to coordination control by position detector Mechanism (4), judgement waves whether pendulum has arrived at positioning；The fore-aft motion steering wheel (32) is in coordination controlling organization (4) Pendulum is waved with adjustable-speed per minute 30-100 times under control.

3. one kind according to claim 1 holds bat manipulator emulation service robot, it is characterised in that the gravity is sent for ball Controlling organization (2) includes ball storage hopper (21), is connected to the rhythm controller (22) of ball storage hopper (21) port of export, is connected to rhythm control The gravity of device (22) port of export processed sends track (23) for ball, and the gravity sends the exit of track (23) for ball, and setting is held Clap manipulator (1).

4. one kind according to claim 3 holds bat manipulator emulation service robot, it is characterised in that the rhythm controller (22) disk (221) is lost by rhythm and mill pace control motor (222) is constituted, the rhythm is lost the bore dia of losing of disk (221) More than 43mm, coordination controlling organization (4) electrical connection mill pace control motor (222) is lost disk (221) so as to rotate rhythm, is pressed According to setting release rhythm ball is stirred from ball storage hopper (21) with 30-100 beats/min of speed fall into gravity for ball send track (23)。

5. one kind according to claim 3 or 4 holds bat manipulator emulation service robot, it is characterised in that the gravity is sent out for ball Track (23) is sent to be connected with ball storage hopper (21) bottom surface in 30-60 degree angle, the gravity sends being shaped as directly for track (23) for ball Footpath 41-45mm cylinder, can be made of metal or plastics.Gravity edge is relied on when ball is fallen into after gravity sends track (23) for ball The track tilted down and roll mouth under eventually off track, and rely on inertia to send and fall on the racket (1) for holding bat manipulator；

6. one kind according to claim 1 holds bat manipulator emulation service robot, it is characterised in that the coordination control Mill pace control circuit (41) that mechanism (4) includes electrically connecting with rhythm controller (22), electrically connect with spinning movement steering wheel (31) Spinning movement helm control circuit (42), the fore-aft motion helm control circuit electrically connected with fore-aft motion steering wheel (32) (43)。

7. one kind batting video acquisition diagnostic system, the emulation service robot described in any one comprising the claims 1-6, Characterized by further comprising shot video acquisition module (5), standardized technique action data information storage center (6), skill Art dynamic deformation from motion behavioural analysis module (7) and wireless evaluation and test feedback module (8), the shot video acquisition module (5) are matched somebody with somebody The action message of collection batting people is set to, and is sent to standardized technique action data information storage center (6), technical movements are used Lixing is that analysis module (7) is configured to compare the action message for the people that bats with standard operation information, evaluates and provides improvement and refers to Lead, batting people is fed back to by wirelessly evaluating and testing feedback module (8).

8. a kind of batting video acquisition diagnostic system according to claim 7, it is characterised in that the shot video Acquisition module (5) includes 5 cameras, the back upper place for the people that is separately positioned on above emulation service robot and bats, upper left side, upper right Side, surface, wherein, the camera of the batting people back upper place be located at after the batting person apart from end line intermediate point backward 2.5-3.5M, apart from ground 0.8-1.5M position；The camera in the batting people upper right side is located at batting people's right side of trunk 2.5-3M, apart from ground 0.8-1.5M position；The camera in the batting people upper right side is located at batting people's left side of trunk 2.5- 3M, the camera directly over ground 0.8-1.5M position, the batting people is located at batting people's overhead and hung down with ground Directly the camera in front of 2.5-3M position, the emulation service robot, which is located at, holds 0.1- above bat manipulator service robot racket 0.3M position；And in addition to the video information acquisition module for the camera being arranged on above emulation service robot (1) is irremovable, its The video information acquisition module of his camera is each configured to be moved according to position of the batting people before billiard table, and adjust to Technical movements exert oneself behavioural analysis module (7) requirement station acquisition information.

9. a kind of batting video acquisition diagnostic system according to claim 7, it is characterised in that wirelessly evaluate and test feedback module (8) be configured to can by mobile Internet by diagnostic data be uploaded to standardized technique action data information storage center (6), and Mobile phone app is sent to by the standardized technique action data information storage center (6) to feed back to by batting people.

10. a kind of batting video acquisition diagnostic system according to claim 7, it is characterised in that standardized technique acts number It is believed that breath storage center (6) is configured to the digital video information of the shot of storage standard, and the new letter of storage can be continuously increased Breath.