KR101435506B1 - Coaching robot for training trainee to hit object and mehtod for controlling the same - Google Patents

Abstract

The present invention provides a coaching robot for training a trainee to hit an object, and a controlling method thereof. The coaching robot includes: a launching unit formed to launch an object to be hit; a trainee sensing unit including an absolute location sensing part formed to generate location signals by sensing an absolute location of the trainee, and a boundary sensing part formed to generate boundary signals by sensing a boundary of a coat for hit training; and a controlling unit formed to adjust a launch mode of the object to be hit in the launching unit based on sensing results of the trainee from the sensing unit.

Description

TECHNICAL FIELD [0001] The present invention relates to a hitting training coaching robot and a control method thereof. BACKGROUND OF THE INVENTION [0002]

The present invention relates to a batting training coaching robot and a control method thereof.

In general, badminton is a sport that uses a racket to hit the shuttlecock against the net in the center of the court to prevent it from falling on the floor. Badminton is a fast-paced game and doubles game, and it is popular for both young and old.

Badminton can be enjoyed indoors and outdoors only by using racquets and shuttlecocks, but it is possible to play with two or more people who can play shuttlecock. Also, at the stage of learning badminton, there should also be a superior or coach as opponent. In other words, the trainer must get the shuttlecock that the coach has put on. For this reason, badminton is difficult to enjoy alone, and there is a great difficulty in the coach's efforts in training the trainer.

To solve this problem, a machine for launching a shuttlecock is being developed. However, such a machine has to be operated by two persons because the operator has to individually operate the launch mode of the shuttlecock and the like. Otherwise, there is no change in the shuttlecock firing mode or the like because of the setting of the above machine, and there is a problem that the training becomes monotonous.

It is an object of the present invention to provide a batting training coaching robot and a control method thereof capable of adjusting the launching of a batting object in response to a trainee.

Another object of the present invention is to provide a method and apparatus for adjusting a shot of a batting object such that a coach trains a trainee without a coach so as to increase the training commitment of the trainee and improve the trainee's ability in a more convenient environment, Training coaching robot and a control method thereof.

According to an aspect of the present invention configured to realize the above-described object, a batting training coaching robot includes: a launching unit configured to fire a batting object; A trainee sensing unit comprising an absolute position sensing unit configured to sense an absolute position of a trainee and generate a position signal, and a boundary sensing unit configured to sense a boundary line of the court for batting training and generate a boundary line signal; And a control unit configured to adjust a firing mode of the batting object in the firing unit, based on the detection result from the trainee sensing unit.

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Here, the control unit may set a plurality of inner zones located within the boundary line and a plurality of outer zones located outside the boundary line so as to surround the boundary line, based on the boundary line signal.

Here, the control unit judges, based on the position signal and the boundary line signal, a relative position with respect to which of the plurality of inner zones and the plurality of outer zones the trainee is located, The firing mode can be adjusted based on the relative position.

The control unit may further include a difficulty level input unit configured to receive a difficulty level signal for setting the difficulty level with respect to the firing mode, and the control unit may adjust the firing mode based on the difficulty level signal.

Herein, the firing mode is a mode related to whether to fire the batting object aiming at the absolute position of the trainee, a mode about whether to fire the batting object to fall to the absolute position of the trainee, A mode relating to which direction to fire in relation to the launching direction, and a mode relating to the launching speed of the batting object.

Wherein the control unit further comprises a batting object sensing unit configured to sense the batting object hit by the trainer after being fired by the launching unit and to generate a batting object signal, Based on this, the firing mode can be adjusted for the batting object to be fired next by the firing unit.

Here, the control unit may determine how much the firing mode for the hit object to be fired next by the firing unit differs from the previous firing mode, and may modify the firing mode based on the determination.

According to another aspect of the present invention, there is provided a control method for a batting training coaching robot, comprising: determining a position of a trainee based on a position signal of a trainee by a trainee sensing unit; Determining a firing mode of the batting object based on the position of the trainee; Controlling the firing unit according to the determined firing mode to cause the batting object to fire; Determining a flight of the batting object struck by the trainer after being fired from the launching unit via a batting object detection unit; And modifying the firing mode for the next hit object based on the determination of the flight.

The step of determining the position of the trainee based on the position signal of the trainee by the trainee sensing unit may include: determining a boundary line of the court for the batting training; Setting a plurality of inner zones located within the perimeter and a plurality of outer zones located outside the perimeter to surround the perimeter; And determining which of the plurality of inner zones and the plurality of outer zones the training person is located in.

Here, the determining of the fire mode of the batting object based on the position of the trainee may include receiving a difficulty signal for setting the difficulty for the fire mode, and determining the fire mode based on the inputted difficulty signal Step < / RTI >

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According to the striking-training coaching robot and the control method thereof according to the present invention configured as described above, it is possible to control the shooting of the striking object in response to the trainee. Thereby, there is no need for a separate operator to be configured to control the launch of the hit object.

Also, since the coach can adjust the launch of the batting object variably, such as the coach training the trainer without the coach, it can increase the training commitment of the trainee and improve the trainee's ability in a more convenient environment.

1 is a conceptual diagram showing a training state of a trainee T using a batting training coaching robot 100 according to an embodiment of the present invention.
2 is a block diagram showing a control configuration of the batting training coaching robot 100 of FIG.
3 is a conceptual diagram of a region (IC, OC) set by the relative position determination block 143 of FIG.
4 is a flowchart illustrating a control method of a batting training coaching robot according to another embodiment of the present invention.
5 is a flowchart illustrating a control method of a batting training coaching robot according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a stroke training coaching robot and a control method thereof according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations.

1 is a conceptual diagram showing a training state of a trainee T using a batting training coaching robot 100 according to an embodiment of the present invention.

Referring to this figure, the batting training coaching robot 100 can be used for training of a trainer T for, for example, badminton, tennis, tennis, and furthermore, sports events such as table tennis. For this purpose, the batting training coaching robot 100 may be placed on one side of the net N and the trainer T may be on the other side of the net N. [

The batting object may be a shuttlecock, a tennis ball, a tennis ball, a table tennis ball, etc., corresponding to the above sports items. The trainer T may be trained to hold the racket L and strike the batting object fired by the batting training coaching robot 100.

The batting training coaching robot 100 may include a body 101 and a launching unit 110. [ The body 101 is a part of a skeleton, and its height can be adjusted. A wheel may be installed under the body 101. The launching direction F of the launching unit 110 for the batting object is illustrated as being different in the upward / downward direction with respect to the trainer T in the drawing, but the left / right direction may be different. Thereby, it is possible to determine whether the batting object is aimed at or directed to the zone (see FIG. 3) where the trainer T is located, The direction of approach in which direction, the direction of approaching the upper / lower side of the trainee T (on the head or under the torso), etc., will be different. For this purpose, the launching unit 110 may be rotationally driven up / down / left / right with respect to the body 101. The launch unit 110 may include a storage unit 115 for storing the hit object to be launched.

In the arrangement in the actual badminton court, the batting training coaching robot 100 is disposed at a distance of about 1 meter from the net N. Then, the launching unit 110 is positioned at a distance of about 2.3 to 2.5 meters from the floor of the coat. With this arrangement, the inventor has confirmed that the batting training coaching robot 100 can fire the batting object (shuttlecock) against the entire area of the court.

For the initial setting of the batting training coaching robot 100, while the boundary line sensing unit 123 obtains the image for the court boundary line CB (see Fig. 3), the display unit 171 (see Fig. 2) Quot; C " -shaped reference line corresponding to the CB can be displayed. By matching these baselines to the court boundary line CB, the initial position of the batting training coaching robot 100 can be accurately set.

The specific configuration of the hitting training coaching robot 100 will be described with reference to Fig.

2 is a block diagram showing a control configuration of the batting training coaching robot 100 of FIG.

Referring to these drawings, the batting training coaching robot 100 includes, in addition to the above-mentioned launching unit 110, a trainee sensing unit 120, a batting object sensing unit 130, a control unit 140, A memory 150, a memory 160, and an information output unit 170.

The trainee sensing unit 120 is a structure for sensing a trainee and generating a position signal. Specifically, the trainee sensing unit 120 may include an absolute position sensing unit 121 and a boundary sensing unit 123. The absolute position sensing unit 121 is configured to sense the absolute position of the trainee T (FIG. 1) irrespective of the presence or absence of a coat for batting training. For this purpose, for example, a camera module type sensor or an infrared light emitting diode type sensor may be used as the absolute position sensing unit 121. [ If necessary, the trainer T may transmit a marker or substance (such as a fluorescent substance) which is easy for the absolute position sensing unit 121 to recognize, to the body directly or indirectly to the racket L, FIG. 3). In addition, in the case of the doubles, the absolute position sensing unit 121 will recognize two trainees (T). The boundary detection unit 123 is configured to detect the boundary of the court where the trainee T is located for the batting training. The boundary detection unit 123 may include a camera module type sensor configured to acquire an image of, for example, a boundary of the court (CB, FIG. 3, having a certain shape). Although the border line CB is simplified in FIG. 3, in the case where the coat border line is different in the step / double dress such as badminton or tennis, the reference line may be recognized as a boundary according to the fast or doubles. At this time, the boundary detection unit 123 may be integrated with the absolute position detection unit 121. The absolute position sensing unit 121 generates a position signal and the boundary line sensing unit 123 is configured to generate a boundary line signal.

The hit object detection unit 130 is configured to detect the hit object. Specifically, the batting object sensing unit 130 is configured to generate a batting object signal by sensing the batting object fired by the trainer T, which is launched from the launching unit 110. [ Specifically, the batting object sensing unit 130 can sense the flight path of the batting object hit by the trainer T. At this time, the flight trajectory detection for the hit object may be at a level that can determine only whether the hit object is flying toward the net (N) or beyond the net (N). The hit object detection unit 130 may include, for example, a camera module type sensor. In this case, the absolute position sensing unit 121, the boundary sensing unit 123, and the batting object sensing unit 130 may be integrated into one camera module type sensor. Unlike the above, the absolute position sensing unit 121 and the batting object sensing unit 130 may be implemented by an ultrasonic sensor, a laser sensor, or the like.

The control unit 140 controls the launching unit 110, the trainee sensing unit 120, the batting object sensing unit 130, the difficulty input unit 150, the memory 160, and the information output unit 170 . The control unit 140 adjusts the firing mode of the firing unit 110 based on the position signal from the trainee sensing unit 120. [

Specifically, the control unit 140 may include an absolute position determination block 141, a relative position determination block 143, a flight locus determination block 145, and a fire mode determination block 147. [

The absolute position determination block 141 determines the absolute position of the trainee T based on the position signal. In other words, even if the trainer (T) is not on the court, it is to determine the absolute position as the position of the trainer.

The relative position determination block 143 determines, based on the position signal and the boundary line signal, which zone (relative position) the trainee T is located with respect to the court. The relative position determination block 143 may be configured such that when the absolute position sensing unit 121 and the boundary line sensing unit 123 are integrated into a camera module type sensor, The image captured for the court may be image processed to determine the trainer T and the boundary line CB (FIG. 3). At this time, in the process of judging the hit objects and the CBs, they can judge them by calculating the number of pixels occupied in the entire image.

The flight trajectory determination block 145 may determine a flight trajectory after the hit object is hit based on the hit object signal from the hit object detection unit 130. [ From this judgment of the trajectory of flight, it is possible to determine the batting ability of the trainee (T).

The fire mode determination block 147 is based on the determination result of the absolute position determination block 141 or the relative position determination block 143 and determines the difficulty level signal input by the difficulty level input unit 150 and the flight path determination block 145 ) Is selectively combined to finally determine the firing mode.

Here, the firing mode refers to whether the batting object is fired in the direction of the area where the trainee T is located or fired in the direction of another area outside the area where the trainee T is located. Alternatively, if the hit object is aimed at the area in which the trainee T is located and is fired, it will fall into the area where the trainee T is located, or whether the trainee T will fall through to the area where the trainee T is located, will be. Further, it is possible to determine in what direction the impact object will approach the trainer T, for example, to the left or right of the trainer T, or to the face of the trainer T, Whether to go or not. Furthermore, it relates to how fast the launching speed of the hit object is, and so on.

The difficulty level input unit 150 is a configuration for receiving the difficulty level signal, which is one factor in determining the firing mode, by the control unit 140. This difficulty signal can also include whether a single trainee (T, Figure 1) participates in singles, or whether two people are involved in doubles. For this, the difficulty level input unit 150 may include a user input unit 151 and a signal receiving unit 153. [ The user input unit 151 may be a button installed on the body 101, a touch pad, or the like. The signal receiving unit 153 is a communication unit configured to receive the difficulty signal from a remote controller or a mobile phone. Thus, the coach can adjust the difficulty level of the training with the remote control while observing the training condition of the trainee (T), or set the difficulty level with the mobile phone without watching.

The memory 160 stores information on the vertical and horizontal angles of the launching unit 110 in accordance with the firing mode and information on the firing rate and further on the performance of the trainer T by the batting object signal of the batting object sensing unit 130. [ Information is recorded. Such a memory may be at least one of a flash memory type, a hard disk type, a multimedia card micro type, and a card type memory (e.g., SD or XD memory) RTI ID = 0.0 > type < / RTI >

The information output unit 170 is a configuration for outputting information on the start / end of launching of the launching unit 110, the setting contents of the difficulty level, the information on the performance of the trainee T, and the like. The information output unit 170 may include a display 171, a speaker 173, and a signal transmitter 175. The signal transmitting unit 175 may be configured to transmit, for example, information on the skill of the trainee T to a set telephone number (telephone number of the coach).

In the above, the area set by the relative position determination block 143 will be described with reference to FIG.

3 is a conceptual diagram of a region (IC, OC) set by the relative position determination block 143 of FIG. In the case of the court boundary line (CB), double line is used for badminton, tennis and the like, and is represented by a single line for convenience of illustration in this drawing.

Referring to this figure, a side court area in which a trainee T is located can be defined in a rectangular shape by a court boundary line CB and a net N. [ The coat region may be partitioned into a plurality of inner zones (IC). In the figure, it is exemplified that the number of internal zones (IC) is set to 12.

In addition to the inner area IC described above, the area can also be set for an area surrounding the court boundary line CB in an area other than the court boundary line CB. The upper zone is the zones surrounding the three sides of the court boundary line (CB) and may be referred to as the outer zone (OC). In this figure, the number of the outer zones OC is also set to 12.

Based on the zone setting of the relative position determination block 143, the fire mode determination block 147 determines whether the batting object is aimed at either one of the inner zones IC or the outer zone OC So that the firing mode of the firing unit 110 can be adjusted.

For example, the firing mode determination block 147 determines whether or not the launching unit 110 is in an internal zone (IC) where the trainee T is located, based on the training difficulty or the skill of the trainee T, To launch the batting object O in the launch direction F towards the other internal zone IC.

Also, for example, in the case of launching a batting object aiming at a fall into the outer zone OC, the trainer T may be able to develop the ability to determine whether the batting object falls into the court boundary CB have. This may be the case when the batting object is fired aiming at a point near the court boundary line CB of the inner zone IC.

Next, a method of controlling the above-described impact training coaching robot 100 will be described with reference to Figs. 4 and 5. Fig.

4 is a flowchart illustrating a control method of a batting training coaching robot according to another embodiment of the present invention.

Referring to this figure, the control method of the batting training coaching robot may include a trainee position determination step (S1), a launch mode determination step (S3), and a hit object launch step (S5).

Specifically, the trainee position determination step S1 acquires the position signal of the trainee T (FIG. 1) through the trainee sensing unit 120. FIG. Based on this position signal, the control unit 140 can determine the absolute position of the trainee T, or the relative position of the trainee T with respect to the training court.

The firing mode determination step S3 determines the firing mode of the batting object based on the detection result for the trainee (T). In the firing mode determination step S3, the launching unit 110 (Fig. 2 (b)) is operated to send the blow object to the side of the trainer T or to the side of the trainer T, based on the absolute position of the trainer T, The firing mode is determined. Based on the relative position, the hit object may be allowed to fall into the court boundary CB, even if it launches the batting object off the trainer T side.

In the batting object launching step S5, the launching unit 110 is operated to fire the batting object according to the fire mode set above.

Next, a more specific control method including the case of acquiring the batting object signal in the above-mentioned control method will be described with reference to FIG.

5 is a flowchart illustrating a control method of a batting training coaching robot according to another embodiment of the present invention.

Referring to the drawing, first, the position of the trainee (T, FIG. 1) is determined (S11). The position of the trainer T can be divided into an absolute position or a relative position, depending on whether the batting training coaching robot 100 (Fig. 1) is placed on the court, as in the previous embodiment.

Next, it is determined whether the difficulty signal regarding the difficulty level of the training using the batting training coaching robot 100 is inputted through the difficulty level input unit 150 (FIG. 2) (S13). According to the difficulty signal, the difficulty level of the training can be set to one of advanced, intermediate, and beginner (S15). Here, the training difficulty is a criterion for determining the nature of the fire mode together with the determination of the ability of the trainee T by the batting object signal. For example, in the firing mode, the batting object is directed to a zone different from the zone in which the trainer T is located, depending on the degree of training, the degree to which the other zone is spaced from the zone in which the trainer T is located may vary.

Next, if it is necessary to determine the firing mode (S17), the firing mode decision block 145 (Fig. 2) enters the step of determining the firing mode. In the launch mode determination step, a decision is made as to whether the batting object is aimed at the area where the trainee is located (S18), whether the batting object falls in the area (S19), the decision about the approach direction of the batting object (S20), and a determination (S21) regarding the launch rate of the hit object. If there is a determined firing mode as the second and subsequent firing, then the above steps S18 to S21 will be skipped.

Next, the fire unit 110 is controlled to fire the hit object according to the determined fire mode (S23). After the launch of the batting object, it is determined whether to continue the training (S25). For example, whether to continue the training can be judged by the set training time, the number of shot of the set hit object, and the like.

In the case of continuing the training, it is determined whether a batting object signal has been received from the batting object sensing unit 130 (S27). If the batting object signal is received, the batting ability of the trainee T is determined based on the batting object signal, and the fire mode is modified (S29). Thereafter, the hit object is fired again in the modified firing mode (S31).

Thereafter, it is determined whether or not the training continues (S33). Thereby ending the training or returning to the step S27 of receiving the batting object signal again.

The above-described batting training coaching robot and its control method are not limited to the configuration and operation manner of the embodiments described above. The embodiments may be configured so that all or some of the embodiments may be selectively combined so that various modifications may be made.

100: batting training coaching robot 110: launching unit
120: Trainee sensing unit 130: Struck object sensing unit
140: control unit 150: difficulty level input unit
160: memory 170: information output unit
F: direction of fire T: trainer

Claims (12)

A launching unit configured to fire a batting object;
A trainee sensing unit comprising an absolute position sensing unit configured to sense an absolute position of a trainee and generate a position signal, and a boundary sensing unit configured to sense a boundary line of the court for batting training and generate a boundary line signal; And
And a control unit configured to adjust a firing mode of the batting object in the firing unit based on the detection result from the trainer sensing unit.
delete The method according to claim 1,
Wherein the control unit comprises:
And sets a plurality of inner zones located within the boundary line and a plurality of outer zones located outside the boundary line to surround the boundary line based on the boundary line signal.
The method of claim 3,
Wherein the control unit comprises:
Determining a relative position with respect to which of the plurality of inner zones and the plurality of outer zones the trainee is located based on the position signal and the boundary line signal, Mode, a hitting training coaching robot.
5. The method of claim 4,
Further comprising a difficulty level input unit configured to receive a difficulty level signal for setting a difficulty level for the firing mode,
Wherein the control unit adjusts the firing mode based on the inputted difficulty signal.
6. The method of claim 5,
The firing mode may include:
A mode relating to whether to fire the batting object toward the absolute position of the trainee, a mode regarding whether to fire the batting object to drop to the absolute position of the trainee, A mode relating to whether or not the batting object is to be hit, and a mode relating to the firing rate of the batting object.
The method according to claim 1,
Further comprising a batting object detection unit configured to detect the batting object hit by the trainer after being fired by the fire unit and generate a batting object signal,
Wherein the control unit adjusts a firing mode for a blow object to be fired next by the firing unit based on the blow object signal.
8. The method of claim 7,
Wherein the control unit comprises:
And determines to what extent the launch mode for the next hit object will be different from the previous launch mode by the launch unit, and modifies the launch mode based on the determination. Determining the position of the trainee based on the trainee's position signal by the trainee sensing unit;
Determining a firing mode of the batting object based on the position of the trainee;
Controlling the firing unit according to the determined firing mode to cause the batting object to fire;
Determining a flight of the batting object struck by the trainer after being fired from the launching unit via a batting object detection unit; And
And modifying the firing mode for the next hit object based on the result of the determination of the flight.
10. The method of claim 9,
Wherein the step of determining the position of the trainee based on the trainee's position signal by the trainee sensing unit comprises:
Determining a boundary line of the coat for the batting training;
Setting a plurality of inner zones located within the perimeter and a plurality of outer zones located outside the perimeter to surround the perimeter; And
And determining if the trainer is located within the established plurality of inner zones and the plurality of outer zones.
10. The method of claim 9,
Determining a firing mode of the batting object based on the position of the trainer,
Receiving a difficulty signal for setting the difficulty level for the fire mode, and determining the fire mode based on the inputted difficulty signal.
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