A method and device for predicting the trajectory of a table tennis ball by a table tennis robot

Abstract

The invention discloses a method and a device for a table tennis robot to predict a table tennis ball trajectory and belongs to the technical field of robots. The method comprises the steps of collecting position coordinates of two points during flying of a table tennis ball, predicting the flying trajectory of the table tennis ball through a time difference and position information, analyzing and judging whether the trajectory is located in a hitting area of the table tennis robot or not, and sending decision information (best hitting point or protection information) to the robot. If the trajectory is located in the hitting area, the robot hits the ball through real-time action planning. The device comprises two position detection modules, a real-time processing module and a communication module. By the aid of the method and the device, the flying trajectory of the table tennis ball can be predicted effectively in real time, so that the table tennis robot can finish a hitting action. The method and the device have the advantages of being simple in algorithm, high in practicability, low in cost, high in environmental adaptability and the like.

Description

technical field [0001] The invention discloses a method for a table tennis robot to predict the trajectory of a table tennis ball, belonging to the technical field of robots. Background technique [0002] In the near future, robots will gradually enter the daily life of human beings, adapt to the living environment of human beings and live in harmony with human beings, and become indispensable close friends and helpers of human beings. The related industries will experience explosive growth. Robots can assist humans in complex and repetitive tasks on various occasions. In order to make robots better adapt to the environment, the research based on the rapid, continuous and dexterous operation of robots has become a hot spot in the field of intelligent robots. [0003] A robot hitting a table tennis ball is a typical example of a robot's rapid, continuous, and dexterous operations. In the process of playing table tennis, the flight trajectory of the table tennis ball is diff...

AI Technical Summary

Problems solved by technology

[0008] 1. Since the vision uses a single color edge recognition, the ping pong balls hit by the robot can only use specific pure color balls, and there are multiple color ping pong balls on the market, which greatly limits the scope of application

[0009] 2. The visual system is particularly demanding on the environment. The intensity of light and color changes in the environment (especially objects of the same color as table tennis) will interfere with visual recognition, in other words, the ability to adapt to the environment and anti-interference ability very poor

[0010] 3. The vision system generally needs to be calibrated before use, and this process is relatively complicated

[0011] 4. In order to realize the robot hitting table tennis, the vision system has relatively high requirements on precision and sensitivity, and needs to use a professional camera, and the cost is correspondingly high

There is an urgent need to find another new detection method. The existing patent 200620001453.7 discloses an artificial intelligence monitoring table tennis table. The device uses a laser emitting tube and a laser receiving tube to assist in the detection of edge balls, but this method is only limited to table tennis tables. A binary measure of the edge position of

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