CN204193448U - A kind of service system, data acquisition unit and service robot - Google Patents
A kind of service system, data acquisition unit and service robot Download PDFInfo
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- CN204193448U CN204193448U CN201420619046.7U CN201420619046U CN204193448U CN 204193448 U CN204193448 U CN 204193448U CN 201420619046 U CN201420619046 U CN 201420619046U CN 204193448 U CN204193448 U CN 204193448U
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Abstract
The utility model provides a kind of service system, data acquisition unit and service robot, and service system comprises data acquisition unit, for gathering multiple coordinate values of fighting back ball; Data processing equipment, fight back the movement locus of ball for calculating according to this coordinate value, the movement locus according to fighting back ball determines to serve a ball track next time, and the emission parameter of at least one service port according to service track determination service robot; Instruction service robot is served a ball according to emission parameter; Service robot is used for serving a ball from this service port according to emission parameter.The utility model obtains the coordinate value of counterattack ball by data acquisition unit and calculates the movement locus of fighting back ball according to data processing equipment, and then service robot carries out the service of bout formula after track of once can serving a ball on determining, simulation real racetrack scene or person to person fight each other scene etc., and can provide data foundation for the athletic technical merit of subsequent analysis.
Description
Technical field
The utility model relates to ball game technical field, particularly relates to a kind of service system, data acquisition unit and service robot.
Background technology
At present, service robot is indispensable amusement and the training tool of a lot of arena and friend of sports fan family, and automatic pitching machine is applicable to society, school, family and professional training venue and uses.Service robot can send the ball of various character, both may be used for entertainment body-building, is suitable for professional training again.For tennis serve machine, tennis serve machine can according to modes such as predeterminable level and artificial adjustment, launch from same place toward court, opposite have that different ball is fast, the ball of drop point and rotation.The ball that sportsman can send according to service robot carries out breaktest, and sportsman, coach or the 3rd people can evaluate etc. impact effect.
For tennis serve machine, existing service robot has following deficiency:
1) predicted motion person can not to return serve track and drop point, after service, no longer carry out bout formula return of serve;
2) serve a ball after program setting, sportsman can predict its launching track, does not meet match reality;
3) athletic return of serve data can not be recorded, cannot the athletic technical merit of automatic decision, sportsman can only be relied on, the observation of coach or the 3rd people evaluates.
Utility model content
The utility model embodiment proposes a kind of service system, data acquisition unit and service robot, in order to solve above-mentioned technical problem of the prior art.
The utility model embodiment provides a kind of service system, comprising:
Data acquisition unit, for gathering multiple coordinate values of fighting back ball;
Data processing equipment, for calculating the movement locus of fighting back ball according to this coordinate value, and determine to serve a ball track according to fighting back the movement locus of ball next time, and the emission parameter of at least one service port according to service track determination service robot, instruction service robot is served a ball according to emission parameter;
Service robot, for serving a ball from this service port according to emission parameter.
Due to the technical scheme that the utility model embodiment provides, obtain the coordinate value of athletic counterattack ball by data acquisition unit and calculated according to this coordinate value by data processing equipment, the movement locus of fighting back ball can be doped, and then the service of bout formula can be carried out after receiving counterattack ball, thus solve the technical problem can not carrying out the service of bout formula in prior art after service again.And, due to service robot of the present utility model be determine next time service track according to the counterattack ball movement locus of prediction after carry out serving a ball, therefore, sportsman can not dope the launching track that service robot is served a ball at every turn, thus simulates the scene of real racetrack scene or person to person's air exercise.
The utility model embodiment provides a kind of data acquisition unit, comprising:
Acquisition module, for gathering multiple coordinate values of fighting back ball;
Sending module, for being sent to data processing equipment by coordinate value.
The data acquisition unit that the utility model embodiment provides, can gather and fight back the locus of ball, record the counterattack ball data that sportsman is each, and then provides data foundation for operations such as follow-up data process and services next time.
The utility model embodiment provides a kind of service robot, comprising:
Receiver module, for receiving emission parameter;
Transmitter module, for serving a ball according to this emission parameter.
The service robot that the utility model embodiment provides, can serve a ball according to the emission parameter received, because emission parameter has uncertainty, make the launching track of the unpredictable service robot of sportsman, thus more meet match reality, to avoid in prior art service robot and to serve a ball the technical problem brought according to fixed routine.
Accompanying drawing explanation
Below with reference to accompanying drawings specific embodiment of the utility model is described, wherein:
Fig. 1 shows in the utility model embodiment the structural representation of system of serving a ball;
Fig. 2 shows the structural representation of data acquisition unit in the utility model embodiment;
Fig. 3 shows the structural representation of service robot in the utility model embodiment;
Fig. 4 shows in the utility model embodiment the schematic diagram of scene of serving a ball.
Detailed description of the invention
Clearly understand to make the technical solution of the utility model and advantage, below in conjunction with accompanying drawing, exemplary embodiment of the present utility model is described in more detail, obviously, described embodiment is only a part of embodiment of the present utility model, instead of all embodiments is exhaustive.And when not conflicting, the embodiment in this explanation and the feature in embodiment can be combined with each other.
The utility model embodiment proposes a kind of service system, data acquisition unit and service robot, is described below.
Fig. 1 shows in the utility model embodiment the structural representation of system of serving a ball, and as shown in the figure, service system can comprise:
Data acquisition unit 101, for gathering multiple coordinate values of fighting back ball;
Data processing equipment 102, for calculating the movement locus of fighting back ball according to this coordinate value, and determine to serve a ball track according to fighting back the movement locus of ball next time, and the emission parameter of at least one service port according to service track determination service robot, instruction service robot is served a ball according to emission parameter;
Service robot 103, for serving a ball from service port according to emission parameter.
In enforcement, data acquisition unit 101 may be used for the coordinate value of being fought back ball by laser light curtain collection.
In concrete enforcement, laser light curtain can be made up of the oblique line (or light of vertical ground) of the light and oblique fire ground that are parallel to ground, when ball passes through light curtain, the light that is parallel to ground and the oblique line light of ground (or perpendicular to) can be blocked, produce two signals, these two signals revivification are become spatial value by data acquisition unit, and then collect the coordinate value of fighting back ball.In enforcement, three coordinate values that can gather by laser light curtain the spheroid that sportsman sends calculate the movement locus of ball, also can calculate the movement locus of fighting back ball by the mode of Modling model, the quantity of the utility model to the coordinate value of the counterattack ball gathered is not restricted.
In enforcement, light curtain can be produced by laser light curtain sensor or grating sensor.
Wherein, laser light curtain sensor can comprise a pair infrared transmitting tube and infrared receiving tube, produces laser light curtain by infrared transmitting tube and infrared receiving tube.Grating sensor then refers to the sensor adopting grating Moire fringe principle to measure displacement.
In enforcement, light curtain parallel to the ground can be three.
Adopt the modes such as laser light curtain sensor, grating sensor to be because these Method compare are conventional, main flow in force, be easy to those skilled in the art and use/understand, so here for laser light curtain sensor, grating sensor; But, in theory, also be fine by other mode, as long as the object of the coordinate value obtaining target spheroid can be realized, laser light curtain sensor, grating sensor are only for instructing those skilled in the art specifically how to implement the utility model, but do not mean and only can use laser light curtain sensor or grating sensor, can in conjunction with putting into practice needs to determine corresponding mode in implementation process.
In enforcement, data processing equipment 102 can be further used for determining fighting back ball whether in appointment boundary line;
Service robot 103 may be used for, when determining to fight back ball when specifying in boundary line, serving a ball from this service port according to emission parameter.
For tennis, in concrete enforcement, laser light curtain (the light curtain of vertical ground and/or light curtain parallel to the ground) can be set at the court central authorities of tennis court (in other words net place), determine athletic counterattack ball whether through net, whether to have got in the place circle on sportsman opposite etc.Certainly, also can arrange laser light curtain along border, court to judge whether athletic counterattack ball is got boundary etc., the utility model arranges concrete boundary line and is not restricted.
In enforcement, data acquisition unit 101 can be further used for obtaining laws of the game, and data processing equipment 102 may be used for the emission parameter of at least one the service port according to laws of the game and service track determination service robot.
For tennis, tennis tournament rule can be divided into singles and doubles two kinds of forms, after server first should stand in end line before service, in the region between the supposition extended line in mid point and sideline.The ball sent should be crossed from network, drops on diagonal angle the opponent serves in district.Every innings of first bulb separation is designated as 15, and the second bulb separation is 30, is next 40.In every innings of match, at least many than opponent 2 bulb separations could terminate this innings of match.Tennis court can be divided into again field, meadow, clay court, hard place field, carpet field etc., and the utility model is not restricted this.
In enforcement, the service port of service robot 103 can be multiple, and emission parameter can comprise service port-mark, and service robot 103 may be used for determining according to service port-mark port service of serving a ball accordingly.
In concrete enforcement, service port generally can be 3 ~ 10, and those skilled in the art can need according to scene the service port arranging varying number, and the quantity of the utility model to service port is not restricted.
In enforcement, service port can, for being fixed on service robot, also can be moveable.
In concrete enforcement, service port can utilize the mechanical arm of service robot to move.
Can carry out data communication by the mode such as wired or wireless between above-mentioned each device, the utility model does not limit the annexation between said apparatus.
In above-described embodiment, existing Functional Unit device blocks all can be adopted to implement.Such as, data acquisition unit can be the components and parts that equipment that any one possesses data acquisition function all possesses; Data processing equipment then can adopt existing data processing components and parts, the calculating of the movement locus that data processing equipment carries out etc. can adopt existing technological means, such as: the calculating such as the angle of three coordinate values can be utilized, or can be calculated by modes such as founding mathematical models, those skilled in the art design and develop can realize through accordingly.
The technical scheme that the utility model embodiment provides, obtain the coordinate value of counterattack ball by data acquisition unit and calculated the movement locus of fighting back ball by data processing equipment according to this coordinate value, determine to serve a ball track next time, and then the service port of service robot can be indicated after receiving the counterattack ball that sportsman sends to carry out the service of bout formula according to service track, thus solve the technical problem can not carrying out the service of bout formula in prior art after service again.
Secondly, in prior art, service robot launching track after program setting is just fixed by program, and sportsman can dope the launching track of next time serving a ball, and does not meet real games scene; And the service robot of the utility model embodiment is the service carrying out next time according to emission parameters such as the service tracks determined, therefore, sportsman can not dope the launching track that service robot is served a ball at every turn, thus simulates the scene of real racetrack scene or person to person's air exercise.
Further, because the utility model can be determined to fight back the coordinate value of ball by data acquisition unit, also, can each athletic counterattack ball data of automatic acquisition, analysis is carried out to athletic technical merit for follow-up data foundation is provided.Such as, the athletic technical merit of automatic decision can be carried out by setting certain standard, solving in prior art and can only rely on sportsman, the technical problem evaluated is carried out in the observation of coach or the 3rd people.Further, can determine at route of returning serve according to sportsman return of serve sportsman's technical merit basis being launched more high-tech difficulty, reach the object progressively improving training strength.
Fig. 2 shows the structural representation of data acquisition unit in the utility model embodiment, and as shown in the figure, device can comprise:
Acquisition module 201, for gathering multiple coordinate values of fighting back ball;
Sending module 202, for being sent to data processing equipment by this coordinate value.
In enforcement, acquisition module 201 can gather the coordinate value of fighting back ball by the signal receiving laser light curtain.
The data acquisition unit that the utility model embodiment provides, can fight back the locus of ball by gathering, recording the return of serve data that sportsman is each, and then provides data foundation for operations such as follow-up data process and services next time.
Fig. 3 shows the structural representation of service robot in the utility model embodiment, and as shown in the figure, service robot can comprise:
Receiver module 301, for receiving emission parameter;
Transmitter module 302, for serving a ball according to this emission parameter.
In enforcement, emission parameter can be serving side to, serve speed etc., and service robot may further include:
Mechanical device 303, for the ball mouth position of port of serving a ball to adjustment according to serving side;
Transmitter module 302 can be further used for, after ball mouth position adjusted by mechanical device, serving a ball with this serve speed.
Because service robot of the prior art is fixing, immovable, can not simulated race scene under battle conditions.
Therefore, not enough in order to solve this, the utility model can also be implemented in the following way.
In enforcement, emission parameter can be the moving direction, displacement, translational speed etc. of serve a ball port or service robot, and service robot may further include:
Mobile module 304, for moving to appointed place according to the moving direction, displacement, translational speed etc. of this service port or service robot by this service port or service robot;
Transmitter module 302 can be further used for, after service port or service robot move to appointed place, serving a ball according to this emission parameter.
Further, mobile module 304 can be shifting roller, pulley, slide bar or mechanical arm etc., as long as realize making this service robot or the moveable object of service port, the concrete structure of the utility model to mobile module is not restricted.
In concrete enforcement, transmitter module 302 can be further used for moving to appointed place when service port or service robot and after position adjusted by mechanical device, serving a ball (not shown in Fig. 3) according to emission parameter.
In the utility model embodiment, service robot realizes moveable object by mobile module, once serve a ball on carrying out again can move the position of service port or service robot when receiving athletic counterattack ball after, thus simulate match scene under battle conditions, solve the fixed problem of service robot in prior art.
In above-described embodiment, existing Functional Unit device blocks all can be adopted to implement.Such as, receiver module can be the components and parts that equipment that any one has receiving function all possesses; As for transmitter module, be then the components and parts that equipment that any one possesses emission function all possesses, the service device of service robot at least of the prior art just can realize this function; Mobile module can be the components and parts that any one can make the equipment of object movement and all possesses, and can be such as pulley, roller etc.
Below the using method of above-mentioned service system is described.
First, multiple coordinate values of ball are fought back in data acquisition unit collection;
Then, multiple coordinate values that data processing equipment collects according to data acquisition unit calculate the movement locus of fighting back ball, movement locus according to fighting back ball determines to serve a ball track next time, and according to this service track determination service robot at least one service port emission parameter, instruction service robot serve a ball according to emission parameter;
Finally, service robot is served a ball from this service port according to emission parameter.
In concrete enforcement, service first can be sent by the movement locus of service robot according to default, sportsman bats at the drop point place of ball, the utility model embodiment gathers the coordinate value of the counterattack ball that sportsman beats by data acquisition unit, data processing equipment calculates service track next time and determines emission parameter, instruction service robot is served a ball according to this emission parameter, and service robot is from the service of service port; So repeatedly operate.
In enforcement, emission parameter can also comprise serving side to, serve speed etc., and service robot according to the ball mouth position of serving side to adjustment service port, and after adjusting ball mouth position, is served a ball with this serve speed.
In concrete enforcement, serving side is to being embodied by data modes such as ball mouth the distance height on ground, the level inclination of ball mouth or the vertical dip angle of port of serving a ball again, those skilled in the art can also adopt other modes as required, and the utility model is not restricted this.
In concrete enforcement, when port of serving a ball is for time mobile, emission parameter can also comprise the data such as service port moving direction, displacement, translational speed, and service robot is served a ball after service port can being moved to appointed place according to parameters such as service port moving direction, displacement, translational speeds.
In concrete enforcement, when port of serving a ball is fixed on service robot, emission parameter can comprise the data such as service robot moving direction, displacement, translational speed, and service robot is served a ball after can moving to appointed place according to parameters such as service port moving direction, displacement, translational speeds.
For the ease of enforcement of the present utility model, be described with example below.
The utility model embodiment is described for tennis, and Fig. 4 shows the tennis scene schematic diagram of the utility model embodiment, as shown in the figure, is described below.
Service robot (for 5 service ports in figure) first can carry out delivery of service, supposes first to send tennis by No. three service ports (port-mark of also namely serving a ball is 003), and this tennis is launched along track 1; Sportsman fights back after receiving, and when the tennis of fighting back is successively through 3 laser light curtains, laser light curtain A, B, C are recorded in the coordinate value of tennis on light curtain in this motion process respectively, suppose to be respectively (A, A '), (B, B '), (C, C '); Data processing equipment calculates flight path (being also track 2) and the drop point of tennis according to these three spatial values.
According to the laws of the game preset, data processing equipment generates e-command, is sent to the service robot of tennis.This e-command can comprise two kinds of situations, and one is do not serve a ball, and two is services; When serving a ball, e-command also comprises concrete service port (being assumed to be No. four service ports), launch time and launches the relevant information (supposing that desired trajectory is track 3) of rear desired trajectory.
No. four service ports (service port-mark is 004) adjust its mechanical device according to e-command, comprise and change ball mouth direction etc., when e-command also comprises service port mobile message (such as moving direction, translational speed, displacement etc.), service robot is served a ball after port of serving a ball accordingly is moved to appointed place.
For convenience of description, each several part of the above device is divided into various module or unit to describe respectively with function.Certainly, the function of each module or unit can be realized in same or multiple software or hardware when implementing the utility model.
Although described preferred embodiment of the present utility model, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the utility model scope.
Claims (10)
1. a service system, is characterized in that, comprising:
Data acquisition unit, for gathering multiple coordinate values of fighting back ball;
Data processing equipment, for calculating the movement locus of fighting back ball according to described coordinate value, and determine to serve a ball track according to fighting back the movement locus of ball next time, and the emission parameter of at least one service port according to service track determination service robot, instruction service robot is served a ball according to emission parameter;
Service robot, for serving a ball from described service port according to described emission parameter.
2. the system as claimed in claim 1, is characterized in that, described data acquisition unit is used for the coordinate value of being fought back ball by laser light curtain collection.
3. the system as claimed in claim 1, is characterized in that, described data processing equipment is further used for determining described counterattack ball whether in appointment boundary line;
Described service robot is used for when determining that described counterattack ball is when specifying in boundary line, serves a ball from described service port according to described emission parameter.
4. the system as claimed in claim 1, is characterized in that, described service port is multiple, and described emission parameter comprises service port-mark, and described data processing equipment is used for according to the service of described service port-mark instruction corresponding service port.
5. the system as claimed in claim 1, is characterized in that, described service port is fixed on described service robot, or described service port is removable.
6. a data acquisition unit, is characterized in that, comprising:
Acquisition module, for gathering multiple coordinate values of fighting back ball;
Sending module, for being sent to data processing equipment by described coordinate value.
7. device as claimed in claim 6, is characterized in that, described acquisition module determines the coordinate value of fighting back ball by the signal receiving laser light curtain.
8. a service robot, is characterized in that, comprising:
Receiver module, for receiving emission parameter;
Transmitter module, for serving a ball according to described emission parameter.
9. service robot as claimed in claim 8, is characterized in that, described emission parameter be serving side to and serve speed, described service robot comprises further:
Mechanical device, for the ball mouth position of port of serving a ball to adjustment according to described serving side;
Described transmitter module is further used for, after ball mouth position adjusted by mechanical device, serving a ball with described serve speed.
10. service robot as claimed in claim 8, is characterized in that, described emission parameter is the moving direction of service port or service robot, displacement and/or translational speed, and described service robot comprises further:
Mobile module, for moving to appointed place according to described moving direction, displacement and/or translational speed by described service port or service robot;
Described transmitter module is further used for, after described service port or service robot move to appointed place, serving a ball according to described emission parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420619046.7U CN204193448U (en) | 2014-10-23 | 2014-10-23 | A kind of service system, data acquisition unit and service robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420619046.7U CN204193448U (en) | 2014-10-23 | 2014-10-23 | A kind of service system, data acquisition unit and service robot |
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| CN204193448U true CN204193448U (en) | 2015-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420619046.7U Expired - Fee Related CN204193448U (en) | 2014-10-23 | 2014-10-23 | A kind of service system, data acquisition unit and service robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104606867A (en) * | 2015-01-14 | 2015-05-13 | 伍润人 | Serving method and system, data acquisition device and serving machine |
| CN107773939A (en) * | 2017-11-30 | 2018-03-09 | 河南理工大学 | A kind of table tennis auxiliary training device |
| CN109621371A (en) * | 2018-12-26 | 2019-04-16 | 许昌学院 | The automatic companion trainer of table tennis |
-
2014
- 2014-10-23 CN CN201420619046.7U patent/CN204193448U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104606867A (en) * | 2015-01-14 | 2015-05-13 | 伍润人 | Serving method and system, data acquisition device and serving machine |
| CN107773939A (en) * | 2017-11-30 | 2018-03-09 | 河南理工大学 | A kind of table tennis auxiliary training device |
| CN109621371A (en) * | 2018-12-26 | 2019-04-16 | 许昌学院 | The automatic companion trainer of table tennis |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150311 Termination date: 20171023 |
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| CF01 | Termination of patent right due to non-payment of annual fee |