WO2006022041A1 - ピッチングマシンおよびそれを用いた変化球制御方法 - Google Patents
ピッチングマシンおよびそれを用いた変化球制御方法 Download PDFInfo
- Publication number
- WO2006022041A1 WO2006022041A1 PCT/JP2005/003835 JP2005003835W WO2006022041A1 WO 2006022041 A1 WO2006022041 A1 WO 2006022041A1 JP 2005003835 W JP2005003835 W JP 2005003835W WO 2006022041 A1 WO2006022041 A1 WO 2006022041A1
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- ball
- pitching machine
- target
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- speed
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
- A63B69/406—Stationarily-arranged devices for projecting balls or other bodies with rotating discs, wheels or pulleys gripping and propelling the balls or bodies by friction
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
- A63B2069/402—Stationarily-arranged devices for projecting balls or other bodies giving spin
Definitions
- the present invention relates to a pole insertion space formed by three rollers, and each drive device for individually controlling the rotation of the three rollers for imparting initial speed and rotation to the pole inserted in the ball insertion space. And a pitching machine having a structural base on which these three rollers and a driving device are mounted.
- the pitching machine is mainly used as a pitching machine for baseball putting practice.
- pitching machines for practicing ball games using soccer, tennis, table tennis, pallet pole, etc. Can also be used. It can also be used as equipment for games such as hitting people with poles (demons are outside games) and games for competing how to escape from a flying ball.
- a pitching machine is a machine that pitches instead of a pitcher during baseball putting practice. Widely used from professional baseball to putting centers. The primary purpose of the pitching machine is to reproduce the pitching of the opponent pitcher you want to capture and improve the putting technique.
- the speed can be changed in the arm type, but the target range cannot be changed.
- the direction of rotation given to the ball can only be given on the plane on which the roller rotates, so the pole can only fly on that plane.
- the plane is rotated manually, and trial and The current situation is that the rotation axis is erroneously determined.
- a throwing machine has been proposed that is configured to stably obtain a desired changing ball by pinching three balls at the holding interval formed by the peripheral surfaces of three throwing disks (actual). (See Kaisho 6 1-1 4 0 7 4).
- a lower throwing disk 2 3 that is rotated in the vertical direction by a bearing is installed on the mounting plate 2 1 on the moving base 2 2, and has a holding interval A with the upper outer peripheral surface of the lower throwing disk 2 3. Centered around the lower throwing disc 2 3, approximately 1 2 0 ° The left upper throwing disc 2 7 and the upper right throwing disc 3 0 are supported on the mounting plate 21 by bearings. With such a configuration, it is possible to throw the balls of the desired ball type to the desired target range to some extent using three throwing disks 2 3, 2 7, 30 by pinching three points Became.
- the inventors of the present invention freely divide the basic functions considered to be lacking in the existing pitching machine as described above, that is, the pitcher's desired speed and the speed pole that the putter desires to the desired target range.
- the inventors refer to such a machine as an intelligent pitching machine.
- the inventors of the present invention have already developed an intelligent pitching machine that can arbitrarily control the two parameters of the target position and speed (Japanese Patent Application No. 2 0 0 1— 0 4 5 9 4 1 Its control system and control method ").
- this configuration three rollers are arranged around the ball firing position. By controlling the number of rotations of each roller, the rotation axis of the ball can be arbitrarily set within the plane including the rotation axes of the three rollers. Can be rotated. This makes it possible to select not only the ball speed and range for the target, but also various ball types.
- we focused only on the target position and ball speed control but when we investigated the needs in this field, the selection of the ball speed and the type of ball is particularly important. It became clear that it was next.
- the intelligent pitching machine proposed by the present inventors is improved, and a new intelligent pitching machine capable of controlling the ball speed, the ball type, and the position within the target is selected.
- An object is to provide a changing ball control method.
- N the position, speed, and ball type within each target are input data.
- the left and right firing angles are learned as output data so that the pitcher can perform the desired pitching.
- This section describes such a pitching machine system and its performance evaluation.
- the present invention is configured to rotate the pole insertion space formed by the three rollers and the three rollers for imparting initial rotation to the pole inserted into the ball insertion space.
- a pitching machine having each drive device that controls rotation and a structural base on which these three rollers and the driving device are mounted, the direction in which the structural base is driven to swing up and down at a predetermined angle up and down and left and right A control drive unit is provided.
- a control unit may be provided.
- control unit includes a computer, and the computer stores a hierarchical-ural network system, which controls the number of rotations of the roller, the vertical angle of the structural base, and the horizontal angle. The amount of change may be determined, and the target change ball may be thrown accordingly.
- the method of the present invention is a method of controlling a changing ball thrown from the machine by using the pitching machine according to the present invention and operating the machine, and each driving device provided in the pitching machine
- the direction control drive unit is controlled to change the number of rotations of the three rollers, the vertical and horizontal swing angles of the structure base, and the target is the pole thrown from the pitching machine. It is characterized by reaching the speed, target ball type, and target position within the target.
- the pitching machine includes a control unit that operates a driving device and a direction control driving unit, and the control unit includes a computer, and the speed, ball type, and the like that are targets of the pole. Control of the location within the target may be performed by a hierarchical neural network system stored in the computer.
- the ball insertion space formed by the three rollers, and the three rollers for imparting initial speed and rotation to the balls inserted into the ball insertion space are individually controlled for rotation.
- a direction control driving unit that drives the structural table to swing up and down and at a predetermined angle is provided. Therefore, in addition to the drive device that rotationally drives the three rollers, the direction control drive unit that drives the structural base vertically and horizontally By providing it, it became possible to accurately throw the ball of the desired speed and the desired ball type in the desired target range to the putting zone or target position even with simple structural modification. .
- a ball insertion space formed by three rollers, each drive device that individually controls the rotation of the three rollers that impart initial speed and rotation to the ball inserted into the ball insertion space, and the three
- a pitching machine changing ball control method comprising: a structural base on which a roller and a driving device are mounted; and a direction control drive unit that drives the structural base to swing up and down and right and left at a predetermined angle.
- Each drive unit and direction control The drive unit is controlled to control the number of rotations of the three rollers and the swing angles of the top and bottom of the structure base, and the target speed, ball type and target
- the three rollers can be driven to rotate to easily obtain the desired speed and the desired ball type, and at the same time, the structure base is driven up and down and left and right. The putting zo It is now possible to pitch accurately within the desired target range to the position at the target or target.
- the target of the pole can be controlled through a learning function by controlling the speed, position of the ball type and the position within the ball type by a hierarchical network system stored in the computer. It is possible to eliminate the error between the value and the teacher data from the trial cast. As a result, the manufacturing error of each pitching machine and the various conditions of the environment (location, temperature, wind, humidity, etc.) in which the machine is used are not a problem, and highly accurate functions can always be maintained. And if this is used, it becomes possible to improve the accuracy of the machine more and more by additionally learning these data.
- FIG. 1 is a schematic diagram of a structural machine control system for a pitching machine according to the present invention.
- FIG. 2 is a photograph of a prototype of the pitching machine (3-roller type) according to the present invention.
- FIG. 3 is an explanatory diagram of the sphere type according to the sphere type parameter in the present invention.
- the symbol “ ⁇ ” of Beta N “ 1 , N” 2 , N ”3 is written small on the shoulder of N.
- “-” is enlarged and placed on“ N ”. ing.
- FIG. 4 is a hierarchical neural network (N N) model diagram according to the present invention.
- FIG. 5 is a side view showing a pitching experiment method in the present invention.
- FIG. 6 is a diagram showing a result of a pitching experiment using the pitching machine according to the present invention, and is a diagram showing the position of the target pole on the X and Y coordinate graphs.
- FIG. 7 is a graph showing the relationship between the sum of the rotational speeds of the rollers (N i + lS + N j and the velocity V of the poles) in the present invention.
- FIG. 8 is a high-speed photograph (2 ms / frame) showing the state of rotation of the pole in the straight spin state in the present invention.
- FIG. 9 is a high-speed photograph showing the state of rotation of a ball in a curved spin state according to the present invention (2 ms no frame).
- FIG. 10 is a relationship diagram between the number of learnings of NN and the error in the present invention.
- FIG. 11 is a diagram showing a pitching experiment result by NN control in the present invention.
- FIG. 12 is a diagram showing the velocity error in each sphere type in the present invention.
- FIG. 13 is a diagram showing a position error in each sphere type in the present invention.
- Fig. 14 is a front view of a conventional pitcher.
- Figure 1 The symbols in Figure 1 indicate the following: 1; 1st roller, 2; 2nd roller, 3; 3rd roller, 4; Ball, 5; Pole insertion space, 6; Structure base, 7; Dolly, 8; PC, 9; NN system, 10; Determination program, 1 1; Controller, M 1 to M 3; Drive device (electric motor or the like), M 4 and M 5; Direction control drive unit (electric motor or the like), P;
- Fig. 1 is a schematic diagram of the structure and control system of the pitching machine of the present invention
- Fig. 2 is a photograph of the prototype
- Fig. 3 is an explanatory diagram of the ball type by the ball type parameter
- Fig. 4 is a hierarchical neural network (NN ) Model diagram
- Fig. 5 is a side view of the pitching experiment
- Fig. 6 is a result of X and Y coordinates of the target position
- Fig. 7 is a diagram showing the relationship between the rotation speed of the roller and the speed of the pole
- Fig. 8 is a straight of the pole.
- Fig. 9 is a high-speed photo showing the rotation of the spin state
- Fig. 9 is a high-speed photo showing the rotation of the spin state
- Fig. 9 is a high-speed photo showing the rotation of the ball in the spin state
- Fig. 10 is the relationship between the number of NN learnings and the error.
- Fig. 11, Fig. 11 shows the results of a pitching experiment using NN control
- Fig. 12 shows the velocity error in each ball type
- Fig. 13 shows the position error in each ball type.
- the basic configuration of the present invention is as follows: a pole insertion space 5 formed by three rollers 1, 2, 3; and a pole 4 inserted in the pole insertion space 5
- Each of the driving devices M 1, M 2, and M 3 for controlling the rotation of the three rollers 1, 2, and 3 for imparting rotation, and the three rollers 1, 2, and 3 and the driving device M l
- direction control drive units M 4 and M 5 for driving the structural base 6 so that the structural base 6 can swing up and down at a predetermined angle. It is characterized by that.
- Oscillation as used in the present invention means that the pitching machine has an angular range of up and down and left and right It means the movement that rotates in the inside.
- the new pitching machine P manufactured in the present embodiment constitutes a control system together with a control unit such as the computer 8 and the controller 11.
- the computer 8 stores a hierarchical neural network (NN), a pitching determination program 10 and the like.
- Figure 2 shows a photograph of the prototype.
- the ball 4 is fired using the frictional force between the outer peripheral surfaces of the three rubber rollers 1, 2, and 3 installed in a Y-shape at 120 ° intervals around the firing position. It is done.
- Each roller 1, 2 and 3 is equipped with motors Ml, M2 and M3, which are driving devices, and the rotation speed can be varied from 0 to 2300 rpm by interlocking with V-belt. M2 and M3 are controlled to rotate independently (each separately).
- rollers M4 and M5 which constitute the direction control drive unit, were installed below the pitching machine P.
- the vertical angle of the P body is 0.
- the left and right angles ⁇ can be varied from 15 ° to 15 °.
- each of the motors M1, M2, M3, M4, and M5 is connected to the PC 8 via the controller 11, and the rotational speed of these motors can be controlled on the PC 8. Also, using various sensors (not shown) (installed immediately after the outlets of the three rollers), the number of rotations of the three rollers 1, 2, 3, N 2 , N 3 , the vertical angle ⁇ of the machine, The right and left angle ⁇ of the machine and the initial velocity V of the pole are measured.
- the position coordinates X, Y, velocity V within the target ball to be thrown and the five kinds of input information ⁇ ⁇ , ⁇ ⁇ described later are used to make such a pitch.
- a system can be constructed in which the output information is five variables: the number of rotations of each roller, ⁇ 2 and ⁇ 3, and the vertical angle ⁇ of the machine and the horizontal angle ⁇ of the machine.
- a theoretical method for calculating the flight direction of the ball can be considered. As for the method, the inventors have been able to measure the anti-coefficient of pole, Magnuska, etc. as already described in the above-mentioned application, but this is very troublesome and time-consuming. It requires questions and is not accurate.
- the present invention employs a hierarchical type ⁇ ⁇ ⁇ that can learn the relationship between input and output without using a complicated theoretical formula. If ⁇ is used, ⁇ itself learns by giving some teacher data, and outputs correctly. Therefore, ⁇ is an effective means for controlling problems of very complex events such as this machine, where the characteristics of the machine itself are affected by the environment and usage.
- the position coordinates X, ⁇ , velocity V and the ball type parameters ⁇ ⁇ ⁇ ⁇ , ⁇ ⁇ within the target of the ball This is a three-layer network with five variables: the number of rotations of N 2 , N 3 and the machine's top and bottom angles 0 and ⁇ .
- the teacher data Ti is given to this NN, and the square of the difference between the output Ni and the teacher data, that is, the sum of square errors: ⁇ ( ⁇ ⁇ -Nj) 2 ⁇ 2 is the pack propagation method (error back propagation method)
- the NN is constructed so that it can learn and output accurately by decreasing the
- a changing sphere such as a carp or a chute
- a method of expressing this with two ball type parameters B x and ⁇ ⁇ is proposed.
- N 2 and N 3 the rotation speed of the three rollers of the developed pitching machine
- the vectors N ",, N" 2 , and N 3 corresponding to each roller indicate vectors for the sake of convenience). 3 Shown in (a). Combining these three vectors gives B ⁇ in the figure.
- the experimental pole was the same as the hardball currently used in professional baseball.
- the experiment was carried out indoors with a pitching machine as shown in Fig. 5 and a target of 0.75m in width and 1.25m in height at a distance of 14m.
- pitching was performed by arbitrarily selecting the number of rotations of the three rollers and the vertical and horizontal angles of the machine.
- Figure 6 shows an example of the position within the target hit when 1 15 patterns were thrown. The result of the position coordinate is shown. For all data, three pitches are thrown for one pattern, and the average value is used. This shows that the ball can be thrown in almost all areas.
- Fig. 7 shows the relationship between the total number of rotations of the three rollers (Ni + N 2 + N 3 ) and the velocity V of the ball. From this, it can be seen that both have almost linearity, and that this machine can throw balls with a ball speed in the range of 70 to 160 km / h.
- the rotation axis of the pole is the vertical axis when viewed from the machine side, that is, the direction inclined slightly to the left from the vertical direction, and the rotation is in the follow spin state, as shown in Fig. 3 (c) It can be seen that the rotation axis direction and the rotation almost coincide with each other.
- NN was trained by the pack propagation method.
- Figure 10 shows an example of the learning process. This shows that the error decreases with the number of learnings.
- An actual pitching test was conducted using the learned NN.
- Figure 11 shows an example of the results of a pitch test of the desired ball type using a network in which 115 pitch data shown in Fig. 6 were learned as teacher data.
- the desired target position, 5 speeds (70, 90, 1 10, 130, 1 50 k /) and 4 ball types (straight, drop, carp, shoot) are determined and NN for them This is the result of throwing using N 2 , N 3 and 0, ⁇ of the output.
- Fig. 11 (b) shows the same experimental results with each speed as a parameter. From these results, there is no clear correlation between the speed and the type of sphere, but there is some variation as a whole, but it is distributed near the target position.
- the poles of all speeds and ball types did not deviate from the strike zone in the bold frame.
- the developed machine can throw a wide range of speeds and balls of various types of balls instantaneously and almost to the desired position in current baseball including professional baseball. It can be said that it has a higher potential than commercial machines.
- V Speed (target value)
- V ' Speed (experimental value)
- Figure 12 shows the results of calculating the pitch error AV corresponding to the desired speed for each ball type (straight, drop, carp, shoot). From the figure, sphere type However, the difference was very small, 2.6%, and the maximum was 3.4%. This is thought to be due to the fact that there is a nearly linear relationship between the total rotation speed of the roller and the pitching speed shown in Fig. 7 as a characteristic of this machine, and it was easy to learn this characteristic.
- Fig. 13 shows the results of calculating the pitch position error ⁇ r corresponding to the desired position for each of the four ball types (straight, drop, curve, shoot).
- the speed error varies somewhat depending on the type of ball, the difference is about 10 O mm for the smallest straight and about 15 O mm for the largest chute. Since the ball diameter is about 7 O mm, it can be seen that the error is about two balls, and that this machine has a very high pitching accuracy.
- the reason for the slight error is that there are many combinations of the number of rotations that make such a throw even in the same target range and the same ball speed, and the friction characteristics at the time of contact between the pole and the roller rotate. This is thought to be due to complex changes depending on the number and seam of the ball.
- a new three-roller pitching machine was developed, and the number of revolutions and the launch angle of the pole were determined using a neural network. I tried to throw a pole. As a result, it is possible to throw in a wide range of ball speeds from 70 to 160 kmZ h with various ball types, and the pitch accuracy is almost complete with respect to speed and ball type, and the position within the target. However, it was possible to throw at an accuracy that fits within the range of about two poles to the target point. This is a new type of pitching machine that has a sufficiently high accuracy that far surpasses the current pitching machine and is extremely practical.
- the shape of the three rollers (diameter as a disc, preferably the same diameter, but may be different depending on the case) type of the roller (the shape of the roller peripheral surface, even on a plane) baud
- the roller material rubber may be attached to the peripheral surface, or the entire roller may be made of a material with a high friction coefficient such as rubber.
- a soft material may be used
- the arrangement of the rollers preferably three rollers are evenly spaced at 120 ° intervals) However, this does not prevent uneven distribution).
- the shape and type of each drive unit that controls the rotation of each roller electric motor, internal combustion engine, etc.), and the related configuration of each drive unit and roller (direct drive, belt drive, chain drive, gear drive, etc.).
- the shape and type of the component table, the arrangement of the three rollers on the component table, and the arrangement of the three drive units on the component table are identical to the shape and type of the component table, the arrangement of the three rollers on the component table, and the arrangement of the three drive units on the component table.
- the shape and type of the trolley, etc. for installing the structural stand installation of casters for transportation, etc.).
- the top and bottom of the structural base (by gear meshing, by cylinder expansion / contraction, etc.), left and right (by gearing, by cylinder expansion / contraction, etc.), swing mode, and amount of change in vibration.
- the shape and type of the drive motor etc. that make up the direction control drive unit electric motor, internal combustion engine, etc.).
- a traveling rail or the like may be provided on the carriage so that it can be translated between both ends of the pitching plate.
- the present invention it is possible to provide a new intelligent pitta machine that can control the ball speed, the ball type, and the position within the target. And by using the pitching machine, the changing sphere can be controlled as intended.
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Abstract
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004-244587 | 2004-08-25 | ||
JP2004244587A JP4883516B2 (ja) | 2004-08-25 | 2004-08-25 | ピッチングマシンおよびその変化球を制御する方法 |
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WO2006022041A1 true WO2006022041A1 (ja) | 2006-03-02 |
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CN109364449A (zh) * | 2018-11-07 | 2019-02-22 | 深圳市普尚健康技术有限公司 | 一种羽毛球拨动机构及羽毛球发球机 |
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JP4911719B2 (ja) * | 2007-11-21 | 2012-04-04 | 国立大学法人金沢大学 | ローラ式ピッチングマシン |
JP5041245B2 (ja) * | 2008-09-01 | 2012-10-03 | スナガ開発株式会社 | ローター式ピッチングマシーン |
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JP2013509253A (ja) * | 2009-10-28 | 2013-03-14 | ニュージー インダストリーズ,インコーポレイテッド | 卓球ロボットとその操作方法 |
CN106730715A (zh) * | 2017-01-20 | 2017-05-31 | 南京晓庄学院 | 乒乓球智能训练器材 |
CN109364449A (zh) * | 2018-11-07 | 2019-02-22 | 深圳市普尚健康技术有限公司 | 一种羽毛球拨动机构及羽毛球发球机 |
CN109364449B (zh) * | 2018-11-07 | 2023-11-17 | 深圳市普尚智能体育有限公司 | 一种羽毛球拨动机构及羽毛球发球机 |
CN110292761A (zh) * | 2019-06-14 | 2019-10-01 | 成都陆道原乡智能科技有限公司 | 摩擦式智能发球机 |
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