CN104436611B - Projection automatic kicking apparatus and the service method of this device - Google Patents
Projection automatic kicking apparatus and the service method of this device Download PDFInfo
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Abstract
Projection automatic kicking apparatus and the service method of this device, relate to automatic pitching machine.It in order to solve existing service robot can not truly simulation training or match in opponent, cause training effect difference problem.The video file that host computer is play is projected on curtain by the present invention, controller controls serving position by the duty controlling horizontal servomotor, servo longitudinal motor and lifting platform, go out the anglec of rotation of bulb by control and control the direction of rotation of ball, control serve speed by the duty controlling air compressor.The service time, go out ball position, serve speed and direction of rotation etc. all with in video athletic service situation keep consistent, it is possible to simulate real opponent, provide a training environment the most true to nature to trainer, improve training effect.The present invention is applicable to the various ball training such as table tennis, tennis, baseball.
Description
Technical field
The present invention relates to automatic pitching machine.
Background technology
Service robot has become the common tool in the training such as table tennis, tennis, but the service robot occurred in the market is using
Time, the simply service robot faced by athlete, and the parameter such as serve speed, angle is all pre-set, and athlete exists
Ball send before with regard to the kinestate of already known ball, the biggest with the gap that real racetrack or true man opponent are trained.Actual
When match or true man opponent train, athlete can probably judge the fortune of ball according to the position before opponent's service, posture etc.
Dynamic state, but cannot accurately judge the kinestate of ball, therefore, above-mentioned service robot can not truly simulation training or compete
Opponent.
Summary of the invention
The invention aims to solve existing service robot can not the true opponent in simulation training or match, cause instruction
The problem practicing weak effect, it is provided that a kind of service method projecting automatic kicking apparatus and this device.
Projection automatic kicking apparatus of the present invention includes that host computer, service robot, projector, controller, wireless signal are sent out
Injection device, wireless signal receiver, lifting platform, horizontal servomotor, servo longitudinal motor, the first drive circuit,
Two drive circuits, the 3rd drive circuit, curtain, platform, a slideway and No. two slideways；
Projector connects controller for the video-projection play by host computer at curtain, the control signal outfan of host computer
Control signal input, controller first control signal outfan connect wireless signal transmitting device control signal input
End, the second control signal outfan of controller connects the control signal input of the second drive circuit, the second drive circuit
Control signal outfan connects the control signal input of horizontal servomotor, and the 3rd control signal outfan of controller connects
The control signal input of the 3rd drive circuit, the control signal outfan of the 3rd drive circuit connects the control of servo longitudinal motor
Signal input part processed, wireless signal transmitting device wirelessly carries out signal transmission with wireless signal receiver, wireless
First control signal outfan of signal receiving device connects the control signal of the air compressor of service robot and connects end, wireless communication
Number receive device second control signal outfan connect service robot go out bulb control signal connect end, reception of wireless signals fill
The 3rd control signal outfan put connects the control signal input of the first drive circuit, the control of described first drive circuit
Signal output part connects the control signal of lifting platform and connects end；
Service robot is placed on the upper surface of lifting platform, lifting platform and curtain and is both placed on platform, and slideway is along the left side in place
Right direction is arranged, and No. two slideways are arranged along direction before and after place；
Horizontal servomotor is used for controlling platform and moves along a slideway, and servo longitudinal motor is used for controlling platform along No. two slideways
Mobile；
From top to bottom have a gap on curtain, the width of this gap be service robot go out the external diameter at the bulb mouth of pipe, this pipe
Mouth is positioned in described gap；
Going out and be provided with block on the inwall at the mouth of pipe of bulb, this block and ultimate range d of described inwall are more than the straight of ball
Footpath, and block and go out the distance of the bulb central axis radius less than ball.
Described controller is embedded in multiple control module realized by software, and each control module is relative with a video file
Should, described video file is stored in host computer, and content is that athlete serves a ball, and each control module includes with lower unit:
Timing unit: start timing from the moment that video file commences play out, and at timing time t=tiShi Qidong serves a ball unit；
tiIn the moment served a ball for the athlete's i & lt in video, the initial value of i is 1；
Service unit: send service control signal to service robot, make service robot be sent by ball；And this unit end of run it
The rear serving position control unit of startup simultaneously, direction of rotation control unit and dynamics control unit；
Serving position control unit: move to horizontal servomotor, servo longitudinal motor and lifting platform respectively, use bulb
The position next time served a ball in video to curtain is moved in displacement；
Direction of rotation control unit: send rotation control signal to service robot, use bulb along output direction of ball around its center axis
Turn clockwise angle [alpha], and direction of rotation is corresponding with the posture of athlete's service in video；
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right；Work as α
When=90 degree, the direction of rotation of ball is from top to bottom；When α=180 degree, the direction of rotation of ball is from right to left；Work as α
When=270 degree, the direction of rotation of ball is from bottom to top；
Dynamics control unit: send out tolerance control signal to service robot, makes dynamics and the athlete in video on curtain of service
Posture adapt.
The service method of above-mentioned projection automatic kicking apparatus is:
Host computer plays the video file of athlete's service, and is presented on curtain by video image by projector, meanwhile,
Send signal to controller, make controller select the service process corresponding with described video file, and perform this service process；
Described service process is for coordinating the athlete in video to control service robot service.
Described service process comprises the following steps:
Timed process: start timing from the moment that video file commences play out, and at timing time t=tiShi Zhihang serves a ball step；
tiIn the moment served a ball for the athlete's i & lt in video, the initial value of i is 1；
Service step: send service control signal to service robot, make service robot be sent by ball；And it is same after this step terminates
Shi Zhihang serving position rate-determining steps, direction of rotation rate-determining steps and dynamics rate-determining steps；
Serving position rate-determining steps: move to horizontal servomotor, servo longitudinal motor and lifting platform respectively, use bulb
The position next time served a ball in video to curtain is moved in displacement；
Direction of rotation rate-determining steps: send rotation control signal to service robot, use bulb along output direction of ball around its center axis
Turn clockwise angle [alpha], and direction of rotation is corresponding with the posture of athlete's service in video；
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right；Work as α
When=90 degree, the direction of rotation of ball is from top to bottom；When α=180 degree, the direction of rotation of ball is from right to left；Work as α
When=270 degree, the direction of rotation of ball is from bottom to top；
Dynamics rate-determining steps: send out tolerance control signal to service robot, makes dynamics and the athlete in video on curtain of service
Posture adapt.
The service method of projection automatic kicking apparatus of the present invention and this device, projector is used for regarding that host computer is play
Frequency file is projected on curtain, provides a virtual opponent to the athlete of training；Laterally servomotor, servo longitudinal electricity
Machine and lifting platform are used for driving bulb and the curtain of service robot to move upward in tri-sides of X, Y and Z；Go out the gear of bulb mouth
Block is used for changing the direction of rotation of ball；Service robot uses air compressor to realize；Controller be used for control service time,
Position, speed and direction of rotation etc., particularly as follows: by controlling horizontal servomotor, servo longitudinal motor and the work of lifting platform
Control serving position as state, go out the anglec of rotation of bulb by control and control the direction of rotation of ball, by controlling sky
The duty of air compressor such as gas outputs etc., control serve speed.The service time, go out ball position, serve speed and rotation
Turn direction etc. and all keep consistent with the athletic service situation in video.
Owing to the service method of above-mentioned projection automatic kicking apparatus and this device can simulate real opponent, therefore trainer
Athlete in video can be trained as opponent, provide a training environment the most true to nature to trainer,
Improve training effect.
Accompanying drawing explanation
Fig. 1 is the electrical principle block diagram of projection automatic kicking apparatus of the present invention；
Fig. 2 is the structural representation of the curtain in embodiment one；
Fig. 3 is in embodiment one, goes out the end face structure schematic diagram at the mouth of pipe of bulb；
Fig. 4 is the Fig. 3 cut-away view along A-A ' direction, and in figure, arrow represents the direction of motion of ball；
Fig. 5 is the functional flow diagram of the application interface in embodiment one.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1 to Fig. 3, Fig. 5 illustrates present embodiment, the projection described in present embodiment is certainly
Dynamic ball serving device, it includes host computer, service robot 5, projector 1, controller 2, wireless signal transmitting device 3, wireless
Signal receiving device 4, lifting platform 6, horizontal servomotor 7, servo longitudinal motor the 8, first drive circuit 9, second drive
Galvanic electricity road the 10, the 3rd drive circuit 11, curtain, platform, a slideway and No. two slideways；
Projector 1 connects control for the video-projection play by host computer at curtain, the control signal outfan of host computer
The control signal input of device 2, the first control signal outfan of controller 2 connects the control of wireless signal transmitting device 3
Signal input part, the second control signal outfan of controller 2 connects the control signal input of the second drive circuit 10,
The control signal outfan of the second drive circuit 10 connects the control signal input of horizontal servomotor 7, controller 2
3rd control signal outfan connects the control signal input of the 3rd drive circuit 11, the control letter of the 3rd drive circuit 11
Number outfan connects the control signal input of servo longitudinal motor 8, wireless signal transmitting device 3 wirelessly with nothing
Line signal receiving device 4 carries out signal transmission, and the first control signal outfan of wireless signal receiver 4 connects service robot
The control signal of the air compressor 5-1 of 5 connects end, and the second control signal outfan of wireless signal receiver 4 connects
The bulb 5-2 control signal that goes out of service robot 5 connects end, and the 3rd control signal outfan of wireless signal receiver 4 connects
The control signal input of the first drive circuit 9, the control signal outfan of described first drive circuit 9 connects lifting platform 6
Control signal connect end；
Service robot 5 is placed on the upper surface of lifting platform 6, lifting platform and curtain and is both placed on platform, and a slideway is along place
Left and right directions arrange, No. two slideways are arranged along direction before and after place；
Horizontal servomotor 7 is used for controlling platform and moves along a slideway, and servo longitudinal motor 8 is used for controlling platform along No. two
Slideway moves；
From top to bottom have a gap on curtain, the width of this gap be service robot 5 go out the external diameter at the bulb 5-2 mouth of pipe,
This mouth of pipe is positioned in described gap；
Go out and on the inwall at the mouth of pipe of bulb 5-2, be provided with block 5-3, this block 5-3 and the ultimate range of described inwall
D is more than the diameter of ball, and block 5-3 and go out the distance radius less than ball of bulb 5-2 central axis.
Present embodiment uses air compressor 5-1 to provide the power of service, by controlling giving vent to anger of air compressor 5-1
Valve controls serve speed, goes out the block 5-3 at the bulb 5-2 mouth of pipe and rotates for making ball produce, and the position of block 5-3 is not
With, the direction of rotation of ball is the most different.
Curtain can move along tri-directions of X, Y and Z on court, and described X-direction is the left and right directions in place, Y side
To for direction before and after place, Z-direction is above-below direction.The video of athlete's service is play, for participating in training on curtain
Athlete provides a virtual opponent.
The initial position of service robot 5 and curtain is arranged on the center of half-court, and service robot 5 and curtain can be in half places
Interior movement, the range of movement of vertical direction may be provided at 0-2 rice, and X can be extended to field with the range of movement of Y-direction
The position of outer about 1 meter, i.e. can serve a ball in certain limit outside field.
Application interface can also be designed, as it is shown in figure 5, on this application interface, user can select to play not in host computer
Same video, the corresponding different control program of each video controls service.Place can also be selected, such as singles or doubles,
Then select difficulty, including primary, intermediate and senior Three Estate, the serve speed of each grade be respectively 40-80km/h,
80-150km/h and more than 150km/h, service interval be respectively 5-8 second, 3-5 second and 3 seconds, it is also possible to carry out office's selection,
Dish selects and ball selects.By application interface, one section of new video editing can also be controlled program, specifically include setting each
Service time, the serving position of ball, go out ball speed, direction of rotation and go out ball angle etc., preserving after being provided with.
Comprise multiple PLC in controller 2, be used for controlling service robot 5 and serving a ball, time of making every time to serve a ball, position, speed,
Direction, rotational case etc. all keep consistent with the situation of athlete's service in video, which provides one virtual out
Training environment, can train the athlete on curtain as real opponents.
Detailed description of the invention two: combine Fig. 4 and illustrate that present embodiment, present embodiment are to the projection described in embodiment one
The further restriction of automatic kicking apparatus, in present embodiment, block 5-3 is provided with a plurality of ridge shape parallel to each other convex
Rise, and this mountain ridge is vertical with the axis going out bulb 5-2.
In present embodiment, block 5-3 is provided with multiple ridge projection, such as Fig. 4 on the surface go out bulb 5-2 center
Shown in, when ball moves at block 5-3, can rub with each projection, increase rotary speed.
Detailed description of the invention three: present embodiment is the further limit to the projection automatic kicking apparatus described in embodiment one
Fixed, in present embodiment, described controller 2 is embedded in multiple control module realized by software, each control module with
One video file is corresponding, and described video file is stored in host computer, and content is that athlete serves a ball, each control module
Including with lower unit:
Timing unit: start timing from the moment that video file commences play out, and at timing time t=tiShi Qidong serves a ball unit；
tiIn the moment served a ball for the athlete's i & lt in video, the initial value of i is 1；
Service unit: send service control signal to service robot 5, make service robot 5 be sent by ball；And run knot at this unit
Start serving position control unit, direction of rotation control unit and dynamics control unit after bundle simultaneously；
Serving position control unit: move to horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6 respectively, use
The position next time served a ball in video to curtain is moved in the displacement of bulb 5-2；
Direction of rotation control unit: send rotation control signal to service robot 5, uses bulb 5-2 along output direction of ball around wherein
Mandrel line turns clockwise angle [alpha], and direction of rotation is corresponding with the posture of athlete's service in video；
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right；Work as α
When=90 degree, the direction of rotation of ball is from top to bottom；When α=180 degree, the direction of rotation of ball is from right to left；Work as α
When=270 degree, the direction of rotation of ball is from bottom to top；
Dynamics control unit: send out tolerance control signal to service robot 5, makes the dynamics of service move in video on curtain
The posture of member adapts.
Detailed description of the invention four: present embodiment is the service method of the projection automatic kicking apparatus described in embodiment one,
The method is: host computer plays the video file of athlete's service, and is presented on curtain by video image by projector,
Meanwhile, send signal to controller 2, make controller 2 select the service process corresponding with described video file, and perform
This service process；
Described service process is for coordinating the athlete in video to serve a ball to control service robot 5.
Service method described in present embodiment, compared with the service method of conventional automatic kicking apparatus, introduces video figure
Picture, service process coordinates video image, makes the ball sent keep consistent with video image, it is possible to simulate true training environment.
When the athlete in video serves a ball, controller 2 controls service robot 5 and serves a ball, after service terminates, and the athlete's meeting in video
Moving to other positions, at this moment, controller 2 can control horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6 and carry
Dynamic service robot 5 moves, and uses bulb 5-2 and moves to the position served a ball next time.Meanwhile, controller 2 controls service robot 5
The bulb 5-2 that goes out rotate about the axis thereof certain angle, make the direction of rotation one of the position of block 5-3 and the ball next time sent
Cause.Before service, the duty of controller 2 air compressor to be controlled 5-1, to guarantee the speed of the ball sent next time
Spend consistent with the serve speed in video.
Detailed description of the invention five: present embodiment is the service method to the projection automatic kicking apparatus described in embodiment four
Further restriction, in present embodiment, described service process comprises the following steps:
Timed process: start timing from the moment that video file commences play out, and at timing time t=tiShi Zhihang serves a ball step；
tiIn the moment served a ball for the athlete's i & lt in video, the initial value of i is 1；
Service step: send service control signal to service robot 5, make service robot 5 be sent by ball；And terminate it in this step
The rear serving position rate-determining steps of execution simultaneously, direction of rotation rate-determining steps and dynamics rate-determining steps；
Serving position rate-determining steps: move to horizontal servomotor 7, servo longitudinal motor 8 and lifting platform 6 respectively, use
The position next time served a ball in video to curtain is moved in the displacement of bulb 5-2；
Direction of rotation rate-determining steps: send rotation control signal to service robot 5, uses bulb 5-2 along output direction of ball around wherein
Mandrel line turns clockwise angle [alpha], and direction of rotation is corresponding with the posture of athlete's service in video；
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right；Work as α
When=90 degree, the direction of rotation of ball is from top to bottom；When α=180 degree, the direction of rotation of ball is from right to left；Work as α
When=270 degree, the direction of rotation of ball is from bottom to top；
Dynamics rate-determining steps: send out tolerance control signal to service robot 5, makes the dynamics of service move in video on curtain
The posture of member adapts.
Detailed description of the invention six: present embodiment is the service method to the projection automatic kicking apparatus described in embodiment four
Further restriction, in present embodiment, it is also possible to be further improved service process, begin in the position using bulb 5-2
Keep eventually and the position consistency of racket in player hand.
When the athlete in video serves a ball, controller 2 controls service robot 5 and serves a ball, after service terminates, and the motion in video
Member can move to other positions, and at this moment, controller 2 can control horizontal servomotor 7, servo longitudinal motor 8 and lifting platform
6 drive service robot 5 to move, and the direction of movement is consistent with the athletic moving direction in video and speed with speed, works as institute
Stating athlete to lift arm and prepare when again serving a ball, controller 2 can control horizontal servomotor 7, servo longitudinal motor 8 and
Lifting platform 6 moves, and the position using bulb 5-2 remains and the position consistency of racket in player hand.
Claims (4)
1. projection automatic kicking apparatus, it includes host computer and service robot (5), it is characterised in that: it also include projector (1),
Controller (2), wireless signal transmitting device (3), wireless signal receiver (4), lifting platform (6), horizontal servo electricity
Machine (7), servo longitudinal motor (8), the first drive circuit (9), the second drive circuit (10), the 3rd drive circuit (11),
Curtain, platform, a slideway and No. two slideways；
Projector (1) connects control for the video-projection play by host computer at curtain, the control signal outfan of host computer
The control signal input of device processed (2), the first control signal outfan of controller (2) connects wireless signal transmitting device
(3) control signal input, the second control signal outfan of controller (2) connects the second drive circuit (10)
Control signal input, the control signal outfan of the second drive circuit (10) connects the control letter of horizontal servomotor (7)
Number input, the 3rd control signal outfan of controller (2) connects the control signal input of the 3rd drive circuit (11),
The control signal outfan of the 3rd drive circuit (11) connects the control signal input of servo longitudinal motor (8), wireless communication
Number discharger (3) wirelessly carries out signal transmission with wireless signal receiver (4), and reception of wireless signals fills
The control signal of the air compressor (5-1) that the first control signal outfan putting (4) connects service robot (5) connects end,
Wireless signal receiver (4) second control signal outfan connect service robot (5) go out bulb (5-2) control signal
Connecting end, the 3rd control signal outfan of wireless signal receiver (4) connects the control letter of the first drive circuit (9)
Number input, the control signal outfan of described first drive circuit (9) connects the control signal of lifting platform (6) and connects end；
Service robot (5) is placed on the upper surface of lifting platform (6), and lifting platform and curtain are both placed on platform, a slideway
Left and right directions along place is arranged, and No. two slideways are arranged along direction before and after place；
Horizontal servomotor (7) is used for controlling platform and moves along a slideway, and servo longitudinal motor (8) is used for controlling platform
Move along No. two slideways；
From top to bottom having a gap on curtain, the width of this gap is the going out at bulb (5-2) mouth of pipe of service robot (5)
External diameter, this mouth of pipe is positioned in described gap；
Go out to be provided with on the inwall at the mouth of pipe of bulb (5-2) block (5-3), this block (5-3) and described inwall
Ultimate range d is more than the diameter of ball, and block (5-3) and go out the distance radius less than ball of bulb (5-2) central axis；
Described controller (2) is embedded in multiple control module realized by software, each control module and a video file
Corresponding, described video file is stored in host computer, and content is that athlete serves a ball, and each control module includes with lower unit:
Timing unit: start timing from the moment that video file commences play out, and at timing time t=tiShi Qidong serves a ball unit；
tiIn the moment served a ball for the athlete's i & lt in video, the initial value of i is 1；
Service unit: send service control signal to service robot (5), make service robot (5) be sent by ball；And in this service
Start serving position control unit, direction of rotation control unit and dynamics control unit after unit end of run simultaneously；
Serving position control unit: make horizontal servomotor (7), servo longitudinal motor (8) and lifting platform (6) fortune respectively
Dynamic, the position next time served a ball in video to curtain is moved in the position using bulb (5-2)；
Direction of rotation control unit: send rotation control signal to service robot (5), use bulb (5-2) along output direction of ball
Turning clockwise angle [alpha] around its center axis, direction of rotation is corresponding with the posture of athlete's service in video；
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right；When α=
When 90 degree, the direction of rotation of ball is from top to bottom；When α=180 degree, the direction of rotation of ball is from right to left；When α=270
When spending, the direction of rotation of ball is from bottom to top；
Dynamics control unit: send out tolerance control signal to service robot (5), makes the dynamics of service transport in video on curtain
The posture mobilized adapts.
Projection automatic kicking apparatus the most according to claim 1, it is characterised in that: it is provided with many on block (5-3)
The mountain ridge that bar is parallel to each other, and this mountain ridge is vertical with the axis going out bulb (5-2).
3. the service method of the projection automatic kicking apparatus described in claim 1, it is characterised in that:
Host computer plays the video file of athlete's service, and is presented on curtain by video image by projector, meanwhile,
Send signal to controller (2), make controller (2) select the service process corresponding with described video file, and perform
This service process；Described service process is for coordinating the athlete in video to control service robot (5) service.
The service method of projection automatic kicking apparatus the most according to claim 3, it is characterised in that:
Described service process comprises the following steps:
Timed process: start timing from the moment that video file commences play out, and at timing time t=tiShi Zhihang serves a ball step；
tiIn the moment served a ball for the athlete's i & lt in video, the initial value of i is 1；
Service step: send service control signal to service robot (5), make service robot (5) be sent by ball；And in this service
Step performs serving position rate-determining steps, direction of rotation rate-determining steps and dynamics rate-determining steps simultaneously after terminating；
Serving position rate-determining steps: make horizontal servomotor (7), servo longitudinal motor (8) and lifting platform (6) fortune respectively
Dynamic, the position next time served a ball in video to curtain is moved in the position using bulb (5-2)；
Direction of rotation rate-determining steps: send rotation control signal to service robot (5), use bulb (5-2) along output direction of ball
Turning clockwise angle [alpha] around its center axis, direction of rotation is corresponding with the posture of athlete's service in video；
The original position of block is the right side of output direction of ball, and when α=0 degree, the direction of rotation of ball is from left to right；When α=
When 90 degree, the direction of rotation of ball is from top to bottom；When α=180 degree, the direction of rotation of ball is from right to left；When α=270
When spending, the direction of rotation of ball is from bottom to top；
Dynamics rate-determining steps: send out tolerance control signal to service robot (5), makes the dynamics of service transport in video on curtain
The posture mobilized adapts.
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| KR101807005B1 (en) * | 2015-12-18 | 2018-01-10 | 주식회사 골프존뉴딘 | Apparatus for base-ball practice, sensing device and sensing method used to the same and pitching control method of the same |
| CN105797346A (en) * | 2016-03-10 | 2016-07-27 | 珠海市研泰电子科技有限公司 | Intelligent ball serving machine control system |
| IT201700060992A1 (en) | 2017-06-05 | 2017-09-05 | Giuseppe Spedaliere | Ball ejection and collection system and related use procedure |
| DE102017212107A1 (en) * | 2017-07-14 | 2019-01-17 | Interprobe Gmbh | Timekeeping device |
| CN108970075B (en) * | 2018-07-30 | 2020-07-14 | 蚌埠珠领智能科技有限公司 | Image-based table tennis service machine control device and method |
| CN109481926B (en) * | 2018-10-08 | 2020-07-24 | 浙江中超新材料股份有限公司 | Working method of universal automatic serving device for tennis training |
| CN114618142A (en) * | 2022-04-22 | 2022-06-14 | 吉林体育学院 | Auxiliary training system and method for table tennis sports |
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| CN1188192C (en) * | 1999-03-01 | 2005-02-09 | 普罗拜塔运动器材有限公司 | Pitching system with video display means |
| CN102151399A (en) * | 2010-02-11 | 2011-08-17 | 李敬群 | Computer-controlled table tennis ball serving device |
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Effective date of registration: 20161011 Address after: 150008 Harbin Province, Nangang District, Dacheng street, No. 1, No. Patentee after: Harbin Institute of Physical Education Address before: Room 212, ha sports building, 1 Dacheng street, Nangang District, Heilongjiang, Harbin 150008, China Patentee before: Zhang Ruiming |