CN-116277055-B - Customizable table tennis robot batting method, device and storage medium

CN116277055BCN 116277055 BCN116277055 BCN 116277055BCN-116277055-B

Abstract

The invention discloses a method, a device and a storage medium for hitting balls of a table tennis robot, wherein the method comprises the steps of obtaining target hitting parameters customized by a user or selecting target hitting parameters corresponding to a specific hitting technology, wherein the target hitting parameters comprise target racket postures and target hitting speeds, identifying and tracking positions of the table tennis balls to obtain predicted tracks of the table tennis balls, selecting expected ball catching positions, and controlling the robot to execute hitting actions at the expected ball catching positions. Through the customization, the table tennis robot can strike a specific batting technology, and certain randomness is reserved. The reproducible batting technique can lead human beings to perform countertraining aiming at different batting methods, and the generation of randomness can promote the interestingness in the human training and practicing process. The invention also enables the user to participate in the establishment of the batting strategy, improves the participation degree of the user on man-machine countermeasure, and allows the user to customize the batting strategy in a personalized way.

Inventors

HU XIAOYI
MAO YUE
Zhang Bangsen
JI YUNFENG

Assignees

乒乓动量机器人(昆山)有限公司

Dates

Publication Date: 20260505
Application Date: 20230228

Claims (7)

1. A customizable method of batting a table tennis robot, the method comprising: (a) Identifying and tracking the position of the table tennis ball, thereby obtaining a predicted track of the table tennis ball; (b) Selecting an expected ball receiving position; (c) Controlling the robot to execute batting action at the expected ball receiving position; Characterized in that prior to step (a), the method further comprises: (d) Acquiring target batting parameters customized by a user or selecting target batting parameters corresponding to a specific batting technology, wherein the target batting parameters comprise target racket postures and target racket speeds; the step (b) specifically comprises: Selecting an expected ball receiving position according to the predicted track and the target ball hitting parameter; controlling the operation of a table tennis robot to finish batting based on the target batting parameters and the expected batting positions; And controlling the operation of the table tennis robot based on the target batting parameters and the expected batting positions, and introducing random errors into parameters of specific joints in the batting process so as to cause the actual batting positions of the table tennis robot when the racket is batted to be different from the expected batting positions.
2. The customizable table tennis robot ball striking method according to claim 1, wherein selecting the expected ball striking position according to the predicted trajectory and the target ball striking parameter specifically comprises: performing rationality analysis on the target racket posture and the target racket speed; When the target racket posture and/or the target racket speed are/is reasonable, directly taking the target batting parameter as an execution parameter; When the target racket posture and/or the target racket speed are/is unreasonable, adjusting unreasonable parameters to reasonable values, and taking the adjusted values as execution parameters; and selecting an expected ball receiving position according to the predicted track and the execution parameters.
3. The customizable table tennis robot hitting method according to claim 2, wherein the controlling the table tennis robot to run and complete the hitting based on the target hitting parameters and the expected catching position specifically comprises: according to the racket posture and the racket speed in the execution parameters, calculating joint parameters of each joint in the table tennis robot based on robot kinematics, wherein the joint parameters comprise a target position and a target speed; Carrying out space track planning on each joint according to the joint parameters; And driving each joint to move to the expected ball receiving position based on the joint parameters and the space track, and completing the batting.
4. The method for striking a ball by a table tennis robot capable of being customized according to claim 1, wherein the table tennis robot comprises a double-shaft translation module (1) and a manipulator (2), the manipulator (2) comprises a base (21), a big arm (22), a small arm (23) and a tail end arm (24), a racket (25) is arranged on the tail end arm (24), and the random error is applied to a rotary joint between the big arm (22) and the base (21).
5. The customizable table tennis robot ball striking method of claim 1 wherein, when the appropriate intended ball receiving position cannot be selected in step (b), the ball striking parameters corresponding to the alternate ball striking technique are replaced and the intended ball receiving position is selected again.
6. A customizable table tennis robot ball striking device, comprising: A track prediction module (402) for identifying and tracking the position of the table tennis ball, thereby obtaining a predicted track of the table tennis ball; a position selection module (403) for selecting an expected ball receiving position; an execution module (404) for controlling the robot to execute a batting action at the intended catch position; Characterized by further comprising: the definition module (401) is used for acquiring target batting parameters customized by a user or selecting target batting parameters corresponding to a specific batting technology, wherein the target batting parameters comprise target racket postures and target racket speeds; The location selection module (403) is configured to implement: Selecting an expected ball receiving position according to the predicted track and the target ball hitting parameter; the execution module (404) is configured to implement: Controlling the operation of a table tennis robot to finish batting based on the target batting parameters and the expected batting positions; And controlling the operation of the table tennis robot based on the target batting parameters and the expected batting positions, and introducing random errors into parameters of specific joints in the batting process so as to cause the actual batting positions of the table tennis robot when the racket is batted to be different from the expected batting positions.
7. A storage medium having stored therein an executable program which when executed by a processor is capable of implementing a customizable table tennis robot batting method according to any one of claims 1-5.

Description

Customizable table tennis robot batting method, device and storage medium Technical Field The invention relates to the technical field of table tennis robot control, in particular to a method, a device and a storage medium for hitting balls by a customizable table tennis robot. Background The table tennis robot is an auxiliary device designed for table tennis, can play table tennis with a user, is more capable of improving training fun compared with devices such as a table tennis service robot and the like, and can be more capable of improving the level with the table tennis robot. For the table tennis robot, the batting strategy is the core of the control system, and in the prior art, the table tennis robot batting strategy coexists in the following modes: (1) Training according to physical model analysis or by data-driven methods such as reinforcement learning, obtaining a batting strategy model capable of controlling the position of a table tennis drop point, and transferring the strategy model to reality. The strategy model takes data such as a real-time table tennis position, a real-time table tennis speed, an expected table tennis drop point position and the like as input, takes a batting time, a batting position, a batting gesture, a racket speed (or a direct output joint speed) and the like as output, and then adopts a robot to realize batting actions of strategy output, and a typical example is a table tennis KUKA serial robot of the university of Conbinon. (2) Collecting data of a human and a robot during playing, recording data such as a maximum and minimum ball speed value, a ball drop point position, an initial ball position and the like of the human during playing, simulating a large number of ball hitting tracks of the human in a virtual environment according to the data, training the robot in the virtual environment according to a simulated ball hitting mode, transferring training results obtained in the virtual environment to a real environment after training is completed, and repeating the process repeatedly, so that the number of times of man-machine playing rounds is increased as much as possible. Typical examples of such batting strategies are google eight-degree-of-freedom table tennis robots employing two-degree-of-freedom rails+6-degree-of-freedom ABB tandem robots. (3) By adopting a method combining reinforcement learning and self-play, the robot and the robot can perform repeated training in a virtual environment, so that the robot has stronger countermeasure capability. A typical example of such a batting strategy is a table tennis robot trained in google pybullet simulation environment. Although the above-mentioned batting strategy can make the robot accomplish better batting action, however, control the batting of robot by controlling the position of the ball drop point, adapting to the human batting mode, self-play, etc., can make the human beings lose the ability of customizing the racket gesture and the racket speed when the robot hits the ball. In addition, since various batting technologies (such as ball pushing, ball tapping, ball rolling and ball looping) are determined by the racket posture and the racket speed during batting, the batting technology used by the robot cannot be customized by human beings. The applicant's prior application CN113650010a provides a method, a system and a storage medium for controlling the motion of a table tennis robot, wherein the method for solving the motion of the table tennis robot is given, and the following problems still exist at present: (1) Humans cannot conduct countermeasure training for a particular batting technique; (2) The robot can not continuously fix the man-machine pair playing rhythm, for example, the low-strength pair playing with slow rhythm is realized by continuously adopting the batting technologies such as force-reducing gear, slow rubbing and the like, or the high-strength man-machine pair playing with fast rhythm is realized by continuously adopting the batting technologies such as ball tapping, ball buckling and the like; (3) As the level of human impact increases, the demand for robot impact will change, which is not achieved by the above method. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a customizable table tennis robot batting method, device and storage medium which can be customized and enable human beings to perform countertraining aiming at different batting methods. In order to achieve the above purpose, the method for hitting balls by a customizable table tennis robot of the invention comprises the following steps: (a) Identifying and tracking the position of the table tennis ball, thereby obtaining a predicted track of the table tennis ball; (b) Selecting an expected ball receiving position; (c) Controlling the robot to execute batting action at the expected ball receiving position; prior to step (a), the method further comprises: (d) Acquiring tar