Ppartner training ping-pong robot system for human health and execution method of partner training ping-pong robot system

Abstract

The invention relates to a training partner ping-pong robot system for human health and an execution method, and belongs to the technical field of human health and artificial intelligence crossing. The method comprises the following steps: 1, generating a random seed value at the current moment; 2, respectively setting a preset position and a transmitting angle; 3, simultaneously opening a transmitting tube valve and a visual module; 4, a booster arranged in the launching tube is triggered to push out the table tennis balls; 5, ball hitting waiting time is calculated to serve as the interval time between ball serving of the launching module and ball hitting of the mechanical arm; 6, obtaining a target site; 7, calculating to obtain the hitting force; 8, moving the mechanical arm to the target site to hit the ball; 9, repeatedly executing the step 4 to the step 8 to obtain a single-round hitting force set; 10, circularly executing the step 9 to obtain a multi-round ball hitting force mean value; the ball hitting force mean value is used for adjusting the ball hitting force of next training in real time; the technical problems of enabling the robot to simulate circular ball hitting and adjusting the ball hitting force in real time are solved.

Description

Technical Field

[0001] The present invention relates to a table tennis robot system and an execution method for human health, belonging to the cross-technical field of human health and artificial intelligence. Background Art

[0002] Table tennis has many fans around the world for its unique charm. However, table tennis training resources for the elderly and people with disabilities are relatively scarce. Currently, the table tennis training robots on the market are mostly for professional athletes. They are expensive and complicated to operate, and are not suitable for these two groups of people.

[0003] At present, the sparring table tennis robots have the following defects: 1. In terms of safety, some robots are not fully functional and users are prone to injury during training. 2. In terms of adjustability, the parameters of the robot are often not adjustable and cannot meet the needs of users. We need a table tennis robot system that is more flexible and adjustable in terms of hitting. 3. In terms of operability, the elderly and disabled people are often unfamiliar with the operation of the system and find it difficult to get started. 4. In terms of sustainability, the robot system has high performance but is also more prone to various problems and is difficult to run for a long time, making the reliability of the system a bottleneck. We hope to improve the sustainability of the sparring of the table tennis system.

[0004] Therefore, in terms of sports experience and health level for the elderly and disabled, how to enable the robot to simulate cyclic hitting and adjust the hitting force in real time has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present invention is to solve the technical problem of allowing a robot to simulate cyclic hitting and adjust the hitting force in real time in terms of sports experience and health level for the elderly and disabled, and to propose a table tennis robot system and execution method for human health.

[0006] The working principle of the present invention is as follows: in the initial state, the control module sends an initialization signal to the launch tube, and the launch tube generates a random seed value at the current moment by setting a random number seed generator. The execution state is as follows: according to the random seed value, the launch tube sets a random launch coordinate and a random rotation angle to determine the launch position and angle of the table tennis ball. After the launch tube reaches the predetermined position and angle, the launch tube valve is opened, and the visual module set on the mechanical arm is started. The visual module captures the launch coordinates and velocity vector of the table tennis ball in real time, and calculates the target position. The mechanical arm moves to the target position, and calculates the waiting time for hitting the ball as the interval time between the launch module serving the ball and the mechanical arm swinging the racket to hit the ball. According to the initial velocity vector of the table tennis ball, the hitting force is calculated and the ball is hit. End state: The system can collect multiple rounds of training data of the user and provide it to the analysis module, so as to realize the function of adjusting the hitting force in real time in terms of the sports experience and health level of the elderly and disabled people.

[0007] The present invention is achieved through the following technical solutions.

[0008] The present invention discloses a human health-oriented table tennis training robot execution method, comprising the following steps:

[0009] Step 1: The control module sends an initialization signal to the transmitting tube, and the transmitting tube generates a random seed value at the current moment through a random number seed generator set in the transmitting module;

[0010] Step 2: Using the random seed value described in step 1, the predetermined position and the launch angle of the launch tube are set using the methods shown in formula (1) and formula (2) respectively;

[0011]

[0012] Where k is the random seed value; y is the y-axis coordinate of the predetermined position, z is the z-axis coordinate of the predetermined position, and y rad is the deflection angle of the launch angle in the y-axis direction, z rad is the deflection angle of the launch angle in the z-axis direction;

[0013] Step 3: After the launch tube reaches the predetermined position and launch angle described in step 2, the launch tube valve and the vision module disposed on the robotic arm are opened simultaneously, and the vision module is used to capture the launch coordinates and velocity vector of the table tennis ball in real time;

[0014] Step 4: Trigger the booster built into the launch tube to push the ping-pong ball out, so that the visual module obtains the initial launch coordinates (y, z) and initial velocity vector (m, n, p) of the ping-pong ball;

[0015] Step 5: Use formula (4) to calculate the waiting time for hitting the ball as the interval time between the launch module serving the ball and the robot arm swinging the racket to hit the ball;

[0016]

[0017] Where m is the x-axis component of the velocity vector;

[0018] Step 6: The visual module uses the emission coordinates, velocity vector and interval time to obtain the target location through the method shown in formula (3);

[0019]

[0020] Where y is the y-axis coordinate of the launch coordinate, n is the y-axis component of the velocity vector, and t is the interval time;

[0021] Step 7: Calculate the hitting force using the launch coordinates, velocity vector and formula (5);

[0022]

[0023] Where z is the z-axis coordinate of the launch coordinate, and p is the z-axis component of the velocity vector;

[0024] Step 8: The robotic arm moves to the target location, and the table tennis racket at the end of the robotic arm hits the ball with the hitting force;

[0025] Step 9: Repeat steps 4 to 8 to obtain a set of hitting forces for a single round;

[0026] Step 10: loop through step 9 and use formula (6) to obtain the average of the hitting force over multiple rounds; use the average of the hitting force to adjust the hitting force for the next training in real time;

[0027]

[0028] in, is the average of the hitting force in multiple rounds, F is the hitting force in a single round, a is the number of rounds in a round, and b is the number of rounds counted;

[0029] The present invention discloses a table tennis robot system for human health, which is used to implement the above method. The present invention discloses a table tennis robot system for human health, which includes a transmission module, a launch module, a vision module, a control module, a hitting module, and an analysis module.

[0030] The transmission module is used to transmit the hitting force, hitting target position and effective signal of the visual module to the hitting module.

[0031] The transmitting module is used to adjust the transmitting position and angle of the table tennis ball, and uses the received random seed value of the control module to adjust the transmitting position and angle.

[0032] The visual module is used to capture the table tennis ball information in real time; the identified launch coordinates and velocity vector of the table tennis ball are used to capture the information and then output it to the hitting module;

[0033] The control module is used to control the launch module and the hitting module. The parameter value is obtained by calculation using the random seed value of the initialization signal, and the parameter value is output to the transmission module to control the launch module. The launch coordinates and velocity vector captured by the vision module are used to calculate the parameter value, and the parameter value is output to the transmission module to control the hitting module, thereby realizing the coordination of the table tennis launcher and the robotic arm.

[0034] The batting module is used to activate the racket on the robot arm to hit the ball.

[0035] The analysis module is used to calculate the average value of the hitting force sets calculated by the control module in multiple rounds and multiple turns, and use the average value as the real-time hitting force for the next training to provide training feedback to the user.

[0036] Beneficial effects:

[0037] Compared with the prior art, the present invention has the following effects:

[0038] 1. In terms of the execution method, the present invention randomly generates the position and angle of the table tennis ball, and ensures the randomness of the launch of the table tennis ball through a random number seed generator, which increases the diversity and challenge of training and helps to improve the user's reaction ability and adaptability; the visual module accurately identifies and calculates, and uses the visual module to recognize the position and velocity vector of the table tennis ball in real time, and accurately calculates the hitting position, strength and angle of the robot arm to ensure the accuracy and efficiency of the hitting.

[0039] 2. In the sparring system of the present invention, the analysis module of the system can record the hitting strength of the user in each round and each round, and then calculate the average hitting strength, which can be used to adjust the hitting strength of the next training in real time, increase the convenience of users using the system, and help users set parameters more flexibly. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the execution method of the present invention;

[0041] Figure 2 It is a schematic diagram of the system flow of the present invention;

[0042] Figure 3 It is a schematic diagram of a rotary steering gear of the present invention. DETAILED DESCRIPTION

[0043] In order to better illustrate the purpose and advantages of the present invention, the invention is further described below in conjunction with the accompanying drawings and examples. It should be noted that the implementation of the present invention is not limited to the following embodiments, and any form of modification or change made to the present invention will fall within the protection scope of the present invention.

[0044] Example

[0045] like Figure 1 As shown, the present embodiment discloses a method for executing a table tennis robot for human health, and the specific implementation steps are as follows:

[0046] Step 1: The control module sends an initialization signal to the transmitting tube, and the transmitting tube generates a random seed value at the current moment through a random number seed generator set in the transmitting module;

[0047] In the embodiment, the control module sends an initialization signal to the transmitting device, and the transmitting device provides a seed value based on the current time through a random number seed generator srand((unsigned int)time(NULL)), assuming that the seed value is 37.

[0048] Step 2: Using the random seed value described in step 1, the predetermined position and the launch angle of the launch tube are set using the methods shown in formula (1) and formula (2) respectively;

[0049]

[0050] Where k is the random seed value; y is the y-axis coordinate of the predetermined position, z is the z-axis coordinate of the predetermined position, and y rad is the deflection angle of the launch angle in the y-axis direction, z rad is the deflection angle of the launch angle in the z-axis direction;

[0051] In the embodiment, the table tennis ball is launched in a limited space, and the angle range is between -90 degrees and +90 degrees of the Y axis and the Z axis. The specific implementation is as follows:

[0052] emitter_pos[0] = -1.37;

[0053] emitter_pos[1]=(rand()%120) / 100.0-0.6=-0.23

[0054] emitter_pos[2]=(rand()%60) / 100.0+0.4=0.77

[0055] / / Generate random angles

[0056] emitter_angles[1]=(rand()%91-45)*3.14 / 180.0=-7.98°

[0057] emitter_angles[2]=(rand()%91-45)*3.14 / 180.0=-7.98°

[0058] Among them, emitter_pos represents the coordinates (x, y, z) of the ping-pong ball emitter, and emitter_angles represents the rotation angle of the emitter (the angles of rotation around the X-axis, Y-axis, and Z-axis respectively).

[0059] Step 3: After the launch tube reaches the predetermined position and launch angle described in step 2, the launch tube valve and the vision module disposed on the robotic arm are opened simultaneously, and the vision module is used to capture the launch coordinates and velocity vector of the table tennis ball in real time;

[0060] In the embodiment, the launch tube is moved to a predetermined position, the launch angle is adjusted, and the launch valve and the vision module on the robotic arm are opened at the same time. The vision module sends a visual valid signal to the control module, namely send_detection_signal(1), and the vision module starts to capture the launch coordinates and velocity vector of the table tennis ball in real time.

[0061] Step 4: Trigger the booster built into the launch tube to push the ping-pong ball out, so that the visual module obtains the initial launch coordinates (y, z) and initial velocity vector (m, n, p) of the ping-pong ball;

[0062] In the embodiment, the booster built into the launch tube pushes the ping-pong ball out, the visual module recognizes the ping-pong ball, and the robotic arm uses wb_supervisor_node_get_pos() and wb_supervisor_node_get_velocity() to obtain the initial launch coordinates (y, z) and initial velocity vector (m, n, p) of the ping-pong ball, respectively.

[0063] Step 5: Use formula (4) to calculate the waiting time for hitting the ball as the interval time between the launch module serving the ball and the robot arm swinging the racket to hit the ball;

[0064]

[0065] Where m is the x-axis component of the velocity vector;

[0066] In the embodiment, the control module calculates the batting waiting time as the interval time between the launch module serving the ball and the robot arm swinging the racket to hit the ball.

[0067]

[0068] Step 6: The visual module uses the emission coordinates, velocity vector and interval time to obtain the target location through the method shown in formula (3);

[0069]

[0070] Where y is the y-axis coordinate of the launch coordinate, n is the y-axis component of the velocity vector, and t is the interval time;

[0071] In the embodiment, the visual module calculates the target position using the launch coordinates, velocity vector and interval time; the calculation result of the hitting position is (1.37, -0.34, 0.39)

[0072]

[0073] Step 7: Calculate the hitting force using the launch coordinates, velocity vector and formula (5);

[0074]

[0075] Where z is the z-axis coordinate of the launch coordinate, and p is the z-axis component of the velocity vector;

[0076] In the embodiment, the ball striking force is calculated using the launch coordinates and velocity vector formula;

[0077]

[0078] Call wb_motor_set_velocity(rotation) function to indicate the force of hitting the ball.

[0079] Step 8: The robotic arm moves to the target location, and the table tennis racket at the end of the robotic arm hits the ball with the hitting force;

[0080] Step 9: Repeat steps 4 to 8 to obtain a set of hitting forces for a single round;

[0081] Step 10: loop through step 9 and use formula (6) to obtain the average of the hitting force over multiple rounds; use the average of the hitting force to adjust the hitting force for the next training in real time;

[0082]

[0083] in, is the average of the hitting force in multiple rounds, F is the hitting force in a single round, a is the number of rounds in a round, and b is the number of rounds counted;

[0084] In the embodiment, step 9 is executed cyclically, and the average value of the hitting force in multiple rounds is obtained by using the formula; the average value of the hitting force is used to adjust the hitting force of the next training in real time;

[0085]

[0086] like Figure 2 As shown, the present invention discloses a human health-oriented sparring table tennis robot system, which is used to implement the above method. The present invention discloses a human health-oriented sparring table tennis robot system, which includes a transmission module, a launch module, a vision module, a control module, a hitting module, and an analysis module.

[0087] The transmission module is used to transmit the hitting force, hitting target position and effective signal of the visual module to the hitting module.

[0088] The transmitting module is used to adjust the transmitting position and angle of the table tennis ball, and uses the received random seed value of the control module to adjust the transmitting position and angle.

[0089] The visual module is used to capture the table tennis ball information in real time; the identified launch coordinates and velocity vector of the table tennis ball are used to capture the information and then output it to the hitting module;

[0090] The control module is used to control the launch module and the hitting module. The parameter value is obtained by calculation using the random seed value of the initialization signal, and the parameter value is output to the transmission module to control the launch module. The launch coordinates and velocity vector captured by the vision module are used to calculate the parameter value, and the parameter value is output to the transmission module to control the hitting module, thereby realizing the coordination of the table tennis launcher and the robotic arm.

[0091] The batting module is used to activate the racket on the robot arm to hit the ball.

[0092] The analysis module is used to calculate the average value of the hitting force sets calculated by the control module in multiple rounds and multiple turns, and use the average value as the real-time hitting force for the next training to provide training feedback to the user.

[0093] In order to further illustrate the advantages of the present invention, a webots simulation experiment is used for illustration.

[0094] like Figure 3As shown, a rotary servo is used to adjust the hitting force, and initially, the lower edge of the racket is set higher than the upper edge of the net. First, the hitting force is calculated based on the launch coordinates and velocity vector of the captured table tennis ball. Here, rotation in wb_motor_set_velocity(rotation) represents the servo rotation angle parameter (0 < rotation < 6.28 degrees). The larger the rotation parameter, the greater the hitting force. The robotic arm uses the rotary servo to drive the table tennis racket to hit the ball. When rotation is 0, the servo stops rotating and the hitting force is 0, and the robotic arm does not drive the racket to hit the ball. When rotation is 6.28, the servo rotates at the maximum speed and the hitting force is the greatest, and after hitting, the table tennis ball lands on the edge of the table. Preferably, when rotation = 5, the hitting force is moderate, and after hitting, the table tennis ball lands in the central area of the table.

[0095] The analysis module continuously collects the hitting force of the user in each round and each turn, and calculates the average hitting force most suitable for the athlete through a formula, so as to help the user quickly set the hitting force in the next training, thereby realizing real-time force adjustment.

[0096] The above specific description further details the purpose, technical solution, and beneficial effects of the invention. It should be understood that the above is only a specific embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A table tennis robot system and execution method for human health, characterized in that: The following steps are included: Step 1: The control module sends an initialization signal to the transmitting tube, and the transmitting tube generates a random seed value at the current moment through a random number seed generator set in the transmitting module; Step 2: Using the random seed value described in step 1, the predetermined position and the launch angle of the launch tube are set using the methods shown in formula (1) and formula (2) respectively; Where k is the random seed value; y is the y-axis coordinate of the predetermined position, z is the z-axis coordinate of the predetermined position, and y rad is the deflection angle of the launch angle in the y-axis direction, z rad is the deflection angle of the launch angle in the z-axis direction; Step 3: After the launch tube reaches the predetermined position and launch angle described in step 2, the launch tube valve and the vision module disposed on the robotic arm are opened simultaneously, and the vision module is used to capture the launch coordinates and velocity vector of the table tennis ball in real time; Step 4: Trigger the booster built into the launch tube to push the ping-pong ball out, so that the visual module obtains the initial launch coordinates (y, z) and initial velocity vector (m, n, p) of the ping-pong ball; Step 5: Use formula (4) to calculate the waiting time for hitting the ball as the interval time between the launch module serving the ball and the robot arm swinging the racket to hit the ball; Where m is the x-axis component of the velocity vector; Step 6: The visual module uses the emission coordinates, velocity vector and interval time to obtain the target location through the method shown in formula (3); Where y is the y-axis coordinate of the launch coordinate, n is the y-axis component of the velocity vector, and t is the interval time; Step 7: Calculate the hitting force using the launch coordinates, velocity vector and formula (5); Where z is the z-axis coordinate of the launch coordinate, and p is the z-axis component of the velocity vector; Step 8: The robotic arm moves to the target location, and the table tennis racket at the end of the robotic arm hits the ball with the hitting force; Step 9: Repeat steps 4 to 8 to obtain a set of hitting forces for a single round; Step 10: loop through step 9 and use formula (6) to obtain the average of the hitting force over multiple rounds; use the average of the hitting force to adjust the hitting force for the next training in real time; in, is the average batting force of multiple rounds, F is the batting force of a single round, a is the number of rounds in a round, and b is the number of rounds counted.

2. A table tennis robot system for human health that implements the method as claimed in claim 1, characterized in that: It includes transmission module, launching module, vision module, control module, hitting module and analysis module; The transmission module is used to transmit the hitting force, hitting target position and effective signal of the visual module to the hitting module; The transmitting module is used to adjust the transmitting position and angle of the table tennis ball, and uses the received random seed value of the control module to adjust the transmitting position and angle; The visual module is used to capture the table tennis ball information in real time; the identified launch coordinates and velocity vector of the table tennis ball are used to capture the information and then output it to the hitting module; The control module is used to control the transmitting module and the hitting module, obtains the parameter value by calculation using the random seed value of the initialization signal, and outputs it to the transmission module, thereby controlling the transmitting module; The launch coordinates and velocity vectors captured by the vision module are used to calculate the parameter values ​​and output them to the transmission module, which in turn controls the hitting module, thereby achieving coordination between the table tennis launcher and the robotic arm. The batting module is used to activate the racket on the robot arm to hit the ball; The analysis module is used to calculate the average value of the hitting force sets calculated by the control module in multiple rounds and multiple turns, and use the average value as the real-time hitting force for the next training to provide training feedback to the user.

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