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Hitting method and device for a table tennis robot

A table tennis, robot technology, applied in the field of control

Active Publication Date: 2018-10-02
上海创屹科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to propose a table tennis robot hitting method and device, aiming at solving the problem of how to accurately obtain the speed and attitude of the racket

Method used

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  • Hitting method and device for a table tennis robot
  • Hitting method and device for a table tennis robot
  • Hitting method and device for a table tennis robot

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Embodiment Construction

[0060] The embodiments of the present invention will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the embodiments of the present invention, rather than to limit the embodiments of the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the embodiments of the present invention.

[0061] refer to figure 1 , figure 1 It is a schematic flowchart of a hitting method of a table tennis robot provided by an embodiment of the present invention.

[0062] Such as figure 1 Shown, the batting method of described table tennis robot comprises:

[0063] Step 101, collect a preset number of trajectory points of table tennis balls, predict the flight trajectory of the table tennis balls, and obtain the position P of the best hitting point after the table t...

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Abstract

The embodiment of the invention discloses a ball-hitting method and device for a table tennis robot. The method comprises the following steps: acquiring track points of a preset number of table tennis balls, forecasting flight tracks of the table tennis balls, and acquiring positions Phit, incident velocities Vin and remaining times t of best hitting points after the table tennis balls enter an operation space of the robot; calculating the reflection velocities VOut of the hit table tennis balls; calculating racket velocities VR and postures WTR according to collision models of the table tennis balls and a racket through the incident velocities Vin and the reflection velocities Vout of the table tennis balls at the positions Phit of the best hitting points; driving the racket at the tail end of the robot to finish a hitting action within the remaining times according to the racket speeds VR and the postures WTR. By adopting the ball-hitting method and device for the table tennis robot, the racket velocities and directions are configured, and the racket velocities and postures are calculated by the collision models of the table tennis balls and the racket, so that accurate drop point control of the tablet tennis balls on a half table of an opponent is realized after table tennis robot hits the table tennis balls.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of control, in particular to a ball hitting method and device for a table tennis robot. Background technique [0002] At this stage, there are mainly two batting methods. The first method is: the batting method based on the collision model between the table tennis ball and the racket, including the mirror reflection model and the nonlinear collision model, and both use model analysis to obtain the attitude and speed of the racket; The second way is to obtain the attitude and speed of the racket through machine learning through a large number of data samples. [0003] The specular reflection model in the first method is relatively simple and easy to implement, but because the collision characteristics between the table tennis ball and the racket are ignored, there is a relatively large deviation between the specular reflection model and the real collision model, so this method is use...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63B69/00A63B67/04
CPCA63B67/04A63B69/00
Inventor 杨跞张文张海波钟颖
Owner 上海创屹科技有限公司
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