CN208959271U - Motor reaction speed intelligent training machine and its ball serving device based on machine vision - Google Patents
Motor reaction speed intelligent training machine and its ball serving device based on machine vision Download PDFInfo
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- CN208959271U CN208959271U CN201821599508.8U CN201821599508U CN208959271U CN 208959271 U CN208959271 U CN 208959271U CN 201821599508 U CN201821599508 U CN 201821599508U CN 208959271 U CN208959271 U CN 208959271U
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Abstract
The ball serving device of present disclose provides a kind of motor reaction speed intelligent training machine based on machine vision, comprising: service portion, the rotation of the motor by squeezing ball wheel emit ball to the outside in service portion；One end of interconnecting piece, interconnecting piece is connect with service portion；The other end of support portion, interconnecting piece is connect with support portion；First steering engine on support portion and controls the rotation of interconnecting piece, to change the pitch angle in service portion；And second steering engine, carry out rotation support portion with support portion connection, change service portion by the rotation of support portion horizontally rotates angle.The disclosure additionally provides a kind of motor reaction speed intelligent training machine based on machine vision.
Description
Technical field
This disclosure relates to a kind of ball serving device of the motor reaction speed intelligent training machine based on machine vision.
Background technique
Currently there are service robots of various ball game etc., such as table tenning ball servicing machine and tennis serve machine etc..
But existing service robot can only fix the ball that position emit different drop points, can be to each such as GALE-631 tennis serve machine
Horizontal player carries out multinomial professional training, is also only able to achieve fixed point and sends out ball different types of, can be with topspin service, chop, preceding
Field half-volley, cross shot, straight shot, flat-shot and the ball that contacts to earth etc., and random variation service interval.
But the needs such as existing equipment solve adjustment service variation, reinforce the reaction speed training to ball game, fill
Divide manoeuvering movements ability, trainer is allowed to obtain the technical problems such as the training of full blast.
Utility model content
At least one of in order to solve the above-mentioned technical problem, present disclose provides a kind of movement based on machine vision is anti-
Answer the ball serving device of speed intelligent training machine and the motor reaction speed intelligent training machine based on machine vision.
According to one aspect of the disclosure, the service dress of a kind of motor reaction speed intelligent training machine based on machine vision
It sets, comprising: service portion, the rotation of the motor by squeezing ball wheel emit ball to the outside in service portion；Interconnecting piece, interconnecting piece
One end is connect with service portion；The other end of support portion, interconnecting piece is connect with support portion；First steering engine, be located at support portion on and
The rotation of interconnecting piece is controlled, to change the pitch angle in service portion；And second steering engine, carry out rotational support with support portion connection
Portion, change service portion by the rotation of support portion horizontally rotates angle.
Further include dial according at least one embodiment of the disclosure, dial be located at the lower section of support portion and
It is labeled with calibration information, the angle by the calibration information come the portion of being supported relative to dial rotation.
According at least one embodiment of the disclosure, interconnecting piece includes that the first connecting portion being rotatably connected connects with second
Socket part, wherein first connecting portion is fixedly connected with support portion, and second connecting portion is fixedly connected with service portion, and passes through the first rudder
Machine rotates second connecting portion, changing the pitch angle in service portion.
According at least one embodiment of the disclosure, service portion includes goal mouth and ball mouth, and ball is filled by goal mouth
Enter inside service portion, and is emitted ball to outside by ball mouth.
According at least one embodiment of the disclosure, the quantity for squeezing ball wheel is two, and ball is from two crowded ball wheels
Centre passes through, and two crowded ball wheels are respectively sleeved on its corresponding motor shaft, and the rotation of crowded ball wheel is controlled by motor.
According at least one embodiment of the disclosure, support portion is equipped with angle rotary indicator, by pointed by pointer
The angle index of dial is come the rotational angle in the portion of being supported.
According to another aspect of the present disclosure, a kind of motor reaction speed intelligent training machine based on machine vision, comprising: such as
On ball serving device；Photographic device acquires the information of trainer；Visual processing apparatus carries out the information from photographic device
Processing；And master control set, visual processing apparatus treated information is received, and control the first steering engine and the of ball serving device
Two steering engines.
According at least one embodiment of the disclosure, master control set is believed according to the coordinate of the trainer of visual processing apparatus
Breath is to generate pulse-width signal, to control the first steering engine and the second steering engine of ball serving device.
According at least one embodiment of the disclosure, visual processing apparatus is according to the habited color of trainer institute come really
Determine the coordinate information of trainer.
According at least one embodiment of the disclosure, visual processing apparatus chooses the area-of-interest in trainer's image
It is handled.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is the schematic diagram of teeing apparatus in accordance with one embodiment of the present disclosure.
Fig. 2 is the cross-sectional view obtained according to the line A-A of Fig. 1.
Fig. 3 is the appearance main view of teeing apparatus in accordance with one embodiment of the present disclosure.
Fig. 4 is the outside side view of teeing apparatus in accordance with one embodiment of the present disclosure.
Fig. 5 is the schematic diagram of intelligent training system in accordance with one embodiment of the present disclosure.
Fig. 6 is the view of vision processing module in accordance with one embodiment of the present disclosure.
Fig. 7 is the LabVIEW surface chart of crowded ball turbin generator control in accordance with one embodiment of the present disclosure.
Fig. 8 is the LabVIEW surface chart of steering gear electric-machine control in accordance with one embodiment of the present disclosure.
Fig. 9 is the LabVIEW master control interface schematic diagram of main control module in accordance with one embodiment of the present disclosure.
Specific embodiment
The disclosure is described in further detail with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, part relevant to the disclosure is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
As illustrated in fig. 1 and 2, the ball serving device packet of the motor reaction speed intelligent training machine based on machine vision of the disclosure
It includes: bottom parts 1, bottom steering engine 2, support plate 3, middle part steering engine 4, connecting component 5 and service portion 6.It is ball can be table tennis and
Tennis etc..
Bottom parts 1 can be the form of disk, and bottom steering engine 2 is arranged on bottom parts 1, for controlling support plate 3
Rotation, such as its rotation is controlled by being fixedly connected for the output shaft of the motor of bottom steering engine 2 and support plate 3.Support plate 3
It is used to support the components such as middle part steering engine 4, connecting component 5 and service portion 6.In an optional embodiment of the disclosure, may be used also
To be provided with 360 degree of dial 7, in the angled calibration information of 7 subscript of dial, and the dial 7 can be supported and be set
It sets on bottom parts 1, and is not rotate relative to bottom parts 1, when bottom steering engine 2, which controls support plate 3, to be rotated, by
It is fixedly installed in dial 7 and bottom parts 1, therefore can indicate that support plate 3 turns relative to bottom parts 1 by dial 7
Dynamic angle, so as to learn the rotation angle of the service mouth in horizontal plane in service portion 6.Optionally, the setting of dial 7 is supporting
The adjacent position of 3 lower section of plate, and pointer can be set in support plate 3, to be preferably directed toward.
Middle part steering engine 4 and connecting component 5 can be set in support plate 3, also can be set in other support plates, and
Other support plates and support plate 3 are fixedly installed.The both ends of connecting component 5 can connect support plate 3 (or other support plates) and
Service portion 6, and connecting component 5 is controlled by middle part steering engine 4 and is rotated, to control bowing for the ball mouth in service portion 6
Elevation angle degree.In an embodiment of the disclosure, connecting component 5 may include first part 51 and second part 52, wherein
First part 51 is fixedly attached to support plate 3 (or other support plates), and first part 51 is rotatably coupled with second part 52,
And the other end of second part 52 is fixedly connected with service portion 6.By the output shaft of the motor of middle part steering engine 4 at first
Divide and at the tie point of second part second part may be rotated, to realize the function of pitch angle adjustment.
Service portion 6 may include the motor 62 that two crowded ball wheels 61, the corresponding crowded ball wheel 61 of control rotate, serve a ball mouth 63 and
Goal mouth 64, and the form in service portion 6 can be the form of cabinet, and provide the space for accommodating ball.Two crowded ball wheels 61
It can be set on the output shaft of motor 62 and differential rotation can be achieved by the control of motor 62, the rotation of ball is controlled with this
Turn effect, to issue the ball of the different balls speed rotated left and right from service mouth 63.
By the above-mentioned teeing apparatus of the disclosure, adjustable left and right angle and pitch angle, bottom steering engine 2 drive support
Plate 3 and combination dial 7 can accurately control the 180 degree angle transmitting of horizontal plane.Middle part steering engine controls pitch angle, bows
Elevation angle degree is up to 60 °.Two motors of extrusion ball can select revolving speed up to the large torque direct current generator of 12000rad/min, elasticity
Ball transmitting speed per hour may be up to 144km/h, and being able to satisfy training requirement completely (can be by selecting the faster motor of revolving speed and bigger wheel
Diameter accelerates speed).
As shown in figs. 3 and 4, which is also provided with shell 100 and lower casing 200, two of them shell
It is respectively used to wrap up corresponding component.
In the disclosure, it is further provided a kind of intelligent training machine (intelligent training system based on above-mentioned ball serving device
System).As shown in figure 5, the intelligent training system includes above-mentioned teeing apparatus, camera and visual processes and main control module.
In the disclosure, the ginsengs such as launch angle and the distance of transmitting equipment can be set according to drill program complexity
Number obtains the position of trainer according to camera, launches long ball, short ball, top spin, chop, half-volley, highball
Deng.Emit equipment in two steering engines can 180 degree angle rotation, and squeeze ball wheel two motors can carry out differential control
System, can ground on the scene realize transmitting different angle, friction speed, the ball of different rotary meets the diversified need of trainer
It asks.Camera is used for location information, motion information, the ground ball information etc. of real-time recognition training person, and camera passes through communication mould
These information are transmitted visual processes and main control module by block, control the transmitting equipment.Visual processes and main control module are for handling
Information from camera and the control for carrying out teeing apparatus, can also be with display display various information and training effect
Display screen etc..
In the optional embodiment of the disclosure, visual processes and main control module include vision processing module and master control mould
Block.
Wherein vision processing module is for handling the information from camera, and treated that information is supplied to master control mould
Block.In order to which the vision processing module of the disclosure is better described, as an example, vision module can based on LabVIEW and
And its development platform of myrio is realized.
As shown in fig. 6, vision processing module includes information acquiring section, division, color threshold configuration part, removes and fill up
Portion, corrosion bulge, coordinate area portion and selection portion.
Wherein, it can be connected by Myrio with camera in information acquiring section, be clapped behind according to camera from trainer
The figure viewed from behind taken the photograph to be worn the clothes according to trainer to judge the image coordinate of personage, and Myrio passes through in LabVIEW
The image information etc. of Vision Acquisition acquisition trainer.It can be by corresponding control in selection LabVIEW come real
It is existing.
Division retains the key component of image for delimiting the region ROI (Region Of Interest, interested),
Position i.e. where personage, rejection image rest part, can be by LabVIEW with exclusive PCR and speed up processing
Vision Assistant realize.
Color threshold configuration part, by dividing color according to the clothes that trainer is worn in LabVIEW development platform
Threshold value can directly input the habited color of trainer institute, it will different processing is carried out according to input.It can by
It is realized on the interface of LabVIEW by inputting.
Portion is filled up in removal, for removing fritter and filling up hollow, and corrodes bulge for being corroded and being expanded behaviour
Make, these can choose in LabVIEW corresponding control to be realized.These operations are provided to exclusive PCR color and place
The case where managing clothes ninsolid color (such as lines and small design of scattered small flowers and plants).
Coordinate area portion, after the completion of above-mentioned processing, the Vision Acquisition of LabVIEW can return to a two-dimemsional number
Group, a dimension are connected domain numbers, another dimension is the coordinate and elemental area size of each connected domain.
Selection portion, for choosing in the information that coordinate area portion exports, the maximum connected domain of elemental area is as processing mesh
Mark, obtains its image coordinate.After obtaining image coordinate, we can calculate the physics of personage according to camera parameter
Coordinate is further operated.Above-mentioned image procossing those skilled in the art is according to control existing in LabVIEW and knot
The prior art is closed to realize.
It will be illustrated below to according to the main control part of the disclosure.Main control part is to two motors of crowded ball wheel and two
The motor of steering engine is controlled.
The control of two motors of crowded ball wheel is illustrated first.Wherein, by choosing straight shot, hook or dextrorotation
Ball mode rotates two motors.As shown in fig. 7, for the interface LabVIEW for realizing two motor controls for squeezing ball wheel
Figure.After choosing service type and setting relevant parameter, by the control mode of surface chart shown in Fig. 7, myrio exports PWM (arteries and veins
Width modulation) signal is controlled, faint electric signal is amplified and d. c. voltage signal is converted into motor by motor internal drive circuits
Three-phase alternating current needed for work, the duty ratio for adjusting PWM6 and PWM7 control the revolving speed of two motors.Two motor work point
Not Dai Dong two crowded ball wheels rotations, extruding ejection is carried out to ball.When the duty ratio of the input PWM of two motors is identical, transmitting is straight
Thread ball；Left motor duty ratio emits hook when being greater than right motor duty ratio；When right motor duty ratio is greater than left motor duty ratio
Emit Slice.
When the motor to two steering engines controls, the LabVIEW surface chart of control mode is as shown in Figure 8.Such as Fig. 8
It is described, according to the coordinate of trainer obtained above, to generate corresponding pwm control signal, and utilize PWM control letter
Number the motor of steering engine is controlled.In one example, the duty ratio of PWM12 controls rotation angle in Fig. 8, in certain model
A rotation angle can be corresponded to by enclosing interior each PWM duty ratio.Vision module acquires the coordinate information of personage, and computer will be sat
Mark information converting is converted into the PWM wave signal accordingly exported, and the motor of steering engine is made to be rotated to realize corresponding control.
The master control interface that Fig. 9 shows LabVIEW shows that the right window is camera real time monitoring picture, and the left side is knot
Fruit display window, can be shown in window as the result is shown ball speed, the speed of running of sportsman, reaction speed, halting success rate,
Following training strength plan etc., and can the rotation type to ball speed grade and ball carry out selection control etc..
In the actual use of the disclosure, different training strength modes can be selected first, determine serve speed.By taking the photograph
As the detection of head and the processing of vision module, the position of people and motion information are fed back into myrio.Emitter according to mode and
The information of feedback determines the position of transmitting, angle, speed.Emitter adjustment pitch angle and left-right position, transmitter squeeze ball
Wheel rotation reaches target velocity.Ball is imported by pipeline squeezes ball wheel transmitting entrance, then emits ball to scheduled position.
In the description of this specification, reference term " one embodiment/mode ", " some embodiment/modes ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment/mode or example description,
Structure, material or feature are contained at least one embodiment/mode or example of the application.In the present specification, to upper
The schematic representation for stating term is necessarily directed to identical embodiment/mode or example.Moreover, the specific features of description,
Structure, material or feature can be combined in any suitable manner in any one or more embodiment/modes or example.In addition,
Without conflicting with each other, those skilled in the art can by different embodiment/modes described in this specification or
Example and different embodiment/modes or exemplary feature are combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of ball serving device of the motor reaction speed intelligent training machine based on machine vision characterized by comprising
Service portion, the rotation of the motor by squeezing ball wheel, ball is emitted to the outside in the service portion；
Interconnecting piece, one end of the interconnecting piece are connect with the service portion；
Support portion, the other end of the interconnecting piece are connect with the support portion；
First steering engine on the support portion and controls the rotation of the interconnecting piece, to change the pitching in the service portion
Angle；And
Second steering engine is connect to rotate the support portion with the support portion, is changed by the rotation of the support portion described
Service portion horizontally rotates angle.
2. the ball serving device of the motor reaction speed intelligent training machine based on machine vision as described in claim 1, feature
It is, further includes dial, the dial is located at the lower section of the support portion and is labeled with calibration information, passes through the scale
Information obtains angle of the support portion relative to the dial rotation.
3. the ball serving device of the motor reaction speed intelligent training machine based on machine vision as described in claim 1, feature
It is, the interconnecting piece includes the first connecting portion and second connecting portion being rotatably connected, wherein the first connecting portion and institute
It states support portion to be fixedly connected, the second connecting portion is fixedly connected with the service portion, and is turned by first steering engine
The second connecting portion is moved, to change the pitch angle in the service portion.
4. the ball serving device of the motor reaction speed intelligent training machine based on machine vision as described in claim 1, feature
It is, the service portion includes goal mouth and ball mouth, and the ball is packed into inside the service portion by goal mouth, and is passed through
Ball mouth emits the ball to outside.
5. the ball serving device of the motor reaction speed intelligent training machine based on machine vision as claimed in claim 4, feature
It is, the quantity of the crowded ball wheel is two, and ball passes through from the centre of two crowded ball wheels, and two crowded ball wheels are respectively sleeved at
On its corresponding motor shaft, the rotation of the crowded ball wheel is controlled by motor.
6. the ball serving device of the motor reaction speed intelligent training machine based on machine vision as claimed in claim 2, feature
Be, the support portion be equipped with angle rotary indicator, by the angle index of the dial pointed by the pointer come
To the rotational angle of the support portion.
7. a kind of motor reaction speed intelligent training machine based on machine vision characterized by comprising
As the service of the motor reaction speed intelligent training machine described in any one of claims 1 to 6 based on machine vision fills
It sets；
Photographic device acquires the information of trainer；
Visual processing apparatus handles the information from the photographic device；And
Master control set receives the visual processing apparatus treated information, and controls the first steering engine of the ball serving device
And second steering engine.
8. the motor reaction speed intelligent training machine based on machine vision as claimed in claim 7, which is characterized in that the master
Control device generates pulse-width signal according to the coordinate information of the trainer of the visual processing apparatus, to control the service
The first steering engine and the second steering engine of device.
9. the motor reaction speed intelligent training machine based on machine vision as claimed in claim 8, which is characterized in that the view
Feel processing unit according to trainer habited color determine the coordinate information of trainer.
10. the motor reaction speed intelligent training machine based on machine vision as claimed in claim 9, which is characterized in that described
The area-of-interest that visual processing apparatus is chosen in trainer's image is handled.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821599508.8U CN208959271U (en) | 2018-09-29 | 2018-09-29 | Motor reaction speed intelligent training machine and its ball serving device based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821599508.8U CN208959271U (en) | 2018-09-29 | 2018-09-29 | Motor reaction speed intelligent training machine and its ball serving device based on machine vision |
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| Publication Number | Publication Date |
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| CN208959271U true CN208959271U (en) | 2019-06-11 |
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| CN201821599508.8U Expired - Fee Related CN208959271U (en) | 2018-09-29 | 2018-09-29 | Motor reaction speed intelligent training machine and its ball serving device based on machine vision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538443A (en) * | 2019-08-09 | 2019-12-06 | 西交利物浦大学 | Table tennis training robot with visual identification function |
| CN111228773A (en) * | 2020-03-02 | 2020-06-05 | 怀化学院 | Service control method and device based on binocular vision, storage medium and service machine |
| CN111714861A (en) * | 2020-06-10 | 2020-09-29 | 浙大宁波理工学院 | Automatic table tennis service training system |
| CN113491867A (en) * | 2021-07-21 | 2021-10-12 | 上海创屹科技有限公司 | Service speed and rotation control method and control system for table tennis service robot |
| CN114011034A (en) * | 2021-11-22 | 2022-02-08 | 刘骁 | Sports is with football training equipment of shooing |
-
2018
- 2018-09-29 CN CN201821599508.8U patent/CN208959271U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110538443A (en) * | 2019-08-09 | 2019-12-06 | 西交利物浦大学 | Table tennis training robot with visual identification function |
| CN111228773A (en) * | 2020-03-02 | 2020-06-05 | 怀化学院 | Service control method and device based on binocular vision, storage medium and service machine |
| CN111714861A (en) * | 2020-06-10 | 2020-09-29 | 浙大宁波理工学院 | Automatic table tennis service training system |
| CN113491867A (en) * | 2021-07-21 | 2021-10-12 | 上海创屹科技有限公司 | Service speed and rotation control method and control system for table tennis service robot |
| CN114011034A (en) * | 2021-11-22 | 2022-02-08 | 刘骁 | Sports is with football training equipment of shooing |
| CN114011034B (en) * | 2021-11-22 | 2022-09-09 | 刘骁 | Football shoot training equipment for sports |
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| CF01 | Termination of patent right due to non-payment of annual fee |