A table tennis robot system and execution method for human health

Abstract

The present invention relates to a table tennis training robot system and execution method for human health, belonging to the technical field of the intersection of human health and artificial intelligence. The present invention comprises the following steps: 1. generating a random seed value at the current moment; 2. setting a predetermined position and a launch angle respectively; 3. simultaneously opening a launch tube valve and a visual module; 4. triggering a booster built into the launch tube to launch a table tennis ball; 5. calculating a batting wait time as the interval between the launch module's serve and the robotic arm's swing to strike the ball; 6. obtaining a target location; 7. calculating the batting force; 8. moving the robotic arm to the target location to strike the ball; 9. repeatedly executing steps 4 to 8 to obtain a single-round batting force set; 10. cyclically executing step 9 to obtain an average batting force value for multiple rounds; and using the average batting force value to adjust the batting force for the next training session in real time. The present invention solves the technical problem of enabling a robot to simulate cyclic batting and adjust the batting force in real time.

Description

Technical Field

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

[0002] Table tennis, with its unique appeal, has attracted numerous fans worldwide. However, table tennis training resources for the elderly and people with disabilities are relatively scarce. Currently available table tennis training robots are primarily designed for professional athletes, but are expensive and complex to operate, making them unsuitable for these groups.

[0003] Currently, ping pong practice robots have the following flaws: 1. Safety: Some robots lack comprehensive functionality, making them prone to injury during training. 2. Adjustability: Robot parameters are often immutable, failing to meet user needs. We need a table tennis robot system with more flexible and adjustable strokes. 3. Operability: Elderly and disabled people often struggle with unfamiliarity with the system. 4. Sustainability: While the robot system offers high performance, it is also prone to various issues and struggles to operate for extended periods, making system reliability a bottleneck. We hope to improve the sustainability of ping pong practice.

[0004] Therefore, in terms of the sports experience and health level of the elderly and disabled people, 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 this 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 people, and to propose a table tennis robot system and execution method for human health.

[0006] The operating principle of the present invention is as follows: In the initial state, the control module sends an initialization signal to the launch tube, which generates a random seed value for the current moment by setting a random number seed generator. In the execution state, based on the random seed value, the launch tube sets random launch coordinates and random rotation angles to determine the launch position and angle of the ping-pong ball. After the launch tube reaches the predetermined position and angle, the launch tube valve is opened and the vision module installed on the robotic arm is activated. The vision module captures the launch coordinates and velocity vector of the ping-pong ball in real time and calculates the target location. The robotic arm moves to the target location and calculates the waiting time for the ball to be hit as the interval between the launch module's release and the robotic arm's swing to hit the ball. Based on the initial velocity vector of the ping-pong ball, the hitting force is calculated and the ball is hit. In the end state, the system can collect multiple rounds of user training data and provide it to the analysis module, thereby realizing the function of adjusting the hitting force in real time based on the sports experience and health level of the elderly and disabled.

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

[0008] The present invention discloses a table tennis robot execution method for human health, 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 the random number seed generator set in the transmitting module;

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

[0011]

[0012] Among them, 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 y-axis deflection angle of the launch angle, z rad is the z-axis deflection angle of the launch angle;

[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 provided 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 vision 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 (3) to calculate the waiting time for hitting the ball as the interval between the launch module serving the ball and the robotic 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 (4);

[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: Use the launch coordinates, velocity vector and formula (5) to calculate the hitting force;

[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 hits the ball with the table tennis racket at the end of the robotic arm.

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

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

[0027]

[0028] 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;

[0029] The present invention discloses a table tennis robot system for human health practice, which is used to implement the above method. The present invention discloses a table tennis robot system for human health practice, 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 launching position and angle of the table tennis ball, and uses the random seed value received from the control module to adjust the launching position and angle.

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

[0033] The control module is used to control the launch module and the hitting module. It uses the random seed value of the initialization signal to calculate the parameter value, and outputs it to the transmission module to control the launch module. It uses the launch coordinates and velocity vector captured by the vision module to calculate the parameter value, and outputs it 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 robotic 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 rounds, 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 execution method, the present invention randomly generates the position and angle of the table tennis ball. Through a random number seed generator, the randomness of the table tennis ball launch is ensured, which increases the diversity and challenge of training and helps to improve the user's reaction ability and adaptability. The visual module accurately recognizes and calculates, using the visual module to identify the position and velocity vector of the table tennis ball in real time, and accurately calculates the hitting position, force and angle of the robotic arm, ensuring 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 in using the system, and help users set parameters more flexibly. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the execution method of the present invention;

[0041] Figure 2 Schematic diagram of the system flow of the present invention;

[0042] Figure 3 Schematic diagram of a rotary servo of the present invention. DETAILED DESCRIPTION

[0043] In order to better illustrate the purpose and advantages of the present invention, the following is a further description of the invention 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 scope of protection of the present invention.

[0044] Example

[0045] like Figure 1 As shown, this embodiment discloses a table tennis robot execution method 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 the 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 the random number seed generator srand((unsigned int)time(NULL)). It is assumed that the seed value is 37.

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

[0049]

[0050] Among them, 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 y-axis deflection angle of the launch angle, z rad is the z-axis deflection angle of the launch angle;

[0051] In the embodiment, the ping-pong 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 launcher, and emitter_angles represents the rotation angle of the launcher (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 provided 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 transmits a visual valid signal, namely send_detection_signal(1), to the control module, and the vision module begins 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 vision 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 vision 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 (3) to calculate the waiting time for hitting the ball as the interval between the launch module serving the ball and the robotic arm swinging the racket to hit the ball;

[0064]

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

[0066] In an embodiment, the control module calculates the ball-hitting waiting time as the interval between the launch module serving the ball and the robotic 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 (4);

[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 calculated result of the hitting position is (1.37, -0.34, 0.39)

[0072]

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

[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 hitting force is calculated using the launch coordinates and velocity vector formula;

[0077]

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

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

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

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

[0082]

[0083] 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;

[0084] In the embodiment, step 9 is executed cyclically to obtain the average value of the hitting force of multiple rounds 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 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.

[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 launching position and angle of the table tennis ball, and uses the random seed value received from the control module to adjust the launching position and angle.

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

[0090] The control module is used to control the launch module and the hitting module. It uses the random seed value of the initialization signal to calculate the parameter value, and outputs it to the transmission module to control the launch module. It uses the launch coordinates and velocity vector captured by the vision module to calculate the parameter value, and outputs it 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 robotic 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 rounds, 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 ball, the table tennis ball lands on the edge of the table. Preferably, when rotation = 5, the hitting force is moderate, and after hitting the ball, 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 achieving 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 modification, equivalent replacement, improvement, 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 practice method for human health, characterized by: 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 the random number seed generator set in the transmitting module; Step 2: Using the random seed value described in step 1, set the predetermined position and launch angle of the launch tube using the methods shown in formula (1) and formula (2) respectively; Among them, 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 y-axis deflection angle of the launch angle, z rad is the z-axis deflection angle of the launch angle; 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 provided 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 vision module obtains the initial launch coordinates (y, z) and initial velocity vector (m, n, p) of the ping-pong ball; Step 5: Use formula (3) to calculate the waiting time for hitting the ball as the interval between the launch module serving the ball and the robotic 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 (4); 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: Use the launch coordinates, velocity vector and formula (5) to calculate the hitting force; 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 hits the ball with the table tennis racket at the end of the robotic arm. Step 9: Repeat steps 4 to 8 to obtain the hitting force set for a single round; Step 10: Loop through step 9 and use formula (6) to obtain the average value of hitting force over multiple rounds; use the average value of hitting force to adjust the hitting force for the next training session 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 practicing table tennis for human health that implements the method of claim 1, characterized in that: Including transmission module, launch 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 launching position and angle of the table tennis ball, and uses the random seed value received from the control module to adjust the launching position and angle; The visual module is used to capture the table tennis ball information in real time; it uses the identified launch coordinates and velocity vector of the table tennis ball to capture and output it to the hitting module; The control module is used to control the transmitting module and the hitting module, obtains parameter values ​​through calculation using the random seed value of the initialization signal, and outputs the parameter values ​​to the transmission module, thereby controlling the transmitting module; The launch coordinates and velocity vectors captured by the vision module are used to calculate 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 robotic 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 rounds, 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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