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CN-117428798-B - Motion control method and device of ball control robot and storage medium

CN117428798BCN 117428798 BCN117428798 BCN 117428798BCN-117428798-B

Abstract

The invention discloses a motion control method, a motion control device and a storage medium of a ball control robot, wherein the method comprises the steps of obtaining motion parameters of a ball through a binocular vision system, determining control parameters of the ball table based on the ball control purpose, the motion parameters and the current gesture of the ball table, wherein the ball control purpose comprises basic motions such as ball tilting, ball receiving, ball balancing and ball tracking and composite motions based on various basic motions, a motion axis of the ball table comprises rotation quantity around an X axis, rotation quantity around a Y axis and Z axis height value, and controlling operation of motors based on the control parameters so that the ball table motion achieves the ball control purpose. In the invention, the motion parameters of the ball are obtained based on vision, and the control parameters of the ball table are determined based on the ball control purpose and the motion parameters, so that various ball control functions can be realized. By adopting the motion control method, data acquisition and control training can be performed to obtain the attribute of the ball, the parameters of various ball control methods can be modulated, and the acquired data and the modulated data can be used for guiding athletes and setting the control parameters of a special training robot.

Inventors

  • MAO YUE
  • Zhang Bangsen

Assignees

  • 上海鸿丘机器人科技有限公司

Dates

Publication Date
20260505
Application Date
20231116

Claims (5)

  1. 1. A method of motion control for a ball control robot, the method comprising: Acquiring the motion parameters of the ball through a binocular vision system; Determining control parameters for the table (12) based on the goal of ball control, the motion parameters and the current gesture of the table (12), wherein the goal of ball control comprises basic motions such as ball tilting, ball catching, ball balancing and ball tracking, and compound motions based on multiple basic motions, the control parameters comprise at least one of target motion quantity of each motion axis of the table (12), motion parameters of the table (12) and time parameters, and the motion axis of the table (12) comprises rotation quantity around an X axis, rotation quantity around a Y axis and Z axis height value; Controlling the operation of each motor (15) based on the control parameters so as to enable the ball table (12) to move to realize the goal of controlling the ball; When the goal is ball turning, the motor (15) is controlled to operate based on the control parameters, so that the table (12) moves to achieve the goal, and the method comprises the following steps: obtaining the residual batting time based on the Z-axis coordinate value in the motion parameter and the ball speed calculation time parameter; calculating a target hitting speed according to the ball speed and the target ball height; judging whether the residual batting time is between the starting time and the stopping time, if so, controlling the ball table (12) to pitch the ball based on the target batting speed; when the goal of ball control is ball turning, PID control is carried out on the height value of the table (12), output amplitude limiting is carried out on a PID controller, and the method specifically comprises the following steps: Calculating a speed difference between a ball and the table (12); Limiting the speed difference to keep the speed difference within a preset range; Calculating the maximum output limit of the PID controller according to the relative speed of the ball and the ball table (12) after limiting; -PID control of the altitude value of the table (12) based on the maximum output limit.
  2. 2. The motion control method of the ball control robot according to claim 1, wherein when the ball control purpose is a balancing ball or a ball is made to follow a track motion, the controlling the operation of each motor (15) based on the control parameter to move the table (12) to achieve the ball control purpose includes: determining a target angle at which the motors (15) are to rotate based on the target movement amounts of the respective movement axes; obtaining inverse kinematics solution of the ball control robot according to a geometric method; Demapping the inverse kinematics to a target angle to be rotated by each corresponding motor (15); controlling operation of each of the motors (15) based on the target angle.
  3. 3. The motion control method of the ball control robot according to claim 1, wherein the controlling the operation of each motor (15) based on the control parameter is specifically: The motor (15) is controlled based on a PID controller, wherein the input value of the PID controller comprises a target rotation angle R x1 of the ball table (12) around the X axis, a target rotation angle R y1 of the ball table (12) around the Y axis and a target height value z 1 , the output value is an actual rotation angle Rx 2 of the ball table (12) around the X axis, an actual rotation angle Ry 2 of the ball table (12) around the Y axis and an actual height value z 2 , and when the ball control is aimed at balancing tasks or enabling the ball to track on the ball table (12), the input value and the output value of the PID controller do not comprise height values.
  4. 4. A motion control device for a ball control robot, comprising: the acquisition module acquires the motion parameters of the ball through a binocular vision system; A calculation module for determining control parameters for the table (12) based on the goal of ball control, the motion parameters and the current gesture of the table (12), wherein the goal of ball control comprises basic motions such as ball tilting, ball catching, ball balancing and ball tracking, and compound motions based on multiple basic motions, the control parameters comprise at least one of target motion quantity of each motion axis of the table (12), the motion parameters of the table (12) and time parameters, and the motion axis of the table (12) comprises rotation quantity around an X axis, rotation quantity around a Y axis and Z axis height value; the implementation module is used for controlling the operation of each motor (15) based on the control parameters so as to enable the ball table (12) to move to realize the goal of ball control; When the goal is ball turning, the motor (15) is controlled to operate based on the control parameters, so that the table (12) moves to achieve the goal, and the method comprises the following steps: obtaining the residual batting time based on the Z-axis coordinate value in the motion parameter and the ball speed calculation time parameter; calculating a target hitting speed according to the ball speed and the target ball height; judging whether the residual batting time is between the starting time and the stopping time, if so, controlling the ball table (12) to pitch the ball based on the target batting speed; when the goal of ball control is ball turning, PID control is carried out on the height value of the table (12), output amplitude limiting is carried out on a PID controller, and the method specifically comprises the following steps: Calculating a speed difference between a ball and the table (12); Limiting the speed difference to keep the speed difference within a preset range; Calculating the maximum output limit of the PID controller according to the relative speed of the ball and the ball table (12) after limiting; -PID control of the altitude value of the table (12) based on the maximum output limit.
  5. 5. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the motion control method of the ball control robot according to any one of claims 1 to 3.

Description

Motion control method and device of ball control robot and storage medium Technical Field The present invention relates to the field of robots, and in particular, to a method and apparatus for controlling motion of a ball control robot, and a storage medium. Background Ball games are important items in sports, in order to study various motion attributes of balls and obtain data capable of strategically knowing the player, various ball control actions need to be implemented on the balls by means of a ball control robot, in the prior art, patent CN114378795A discloses a five-degree-of-freedom parallel table tennis robot which is mainly used for the counterattack training with people, has a single function, and does not disclose a specific embodiment. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a motion control method, a motion control device and a storage medium of a ball control robot capable of realizing rich ball control functions. In order to achieve the purpose, the motion control method of the ball control robot comprises the following steps: Acquiring the motion parameters of the ball through a binocular vision system; Determining control parameters for the table based on the ball control purpose, the motion parameters and the current gesture of the table, wherein the ball control purpose comprises basic motions such as ball tilting, ball catching, ball balancing and ball tracking, and compound motions based on multiple basic motions, the control parameters comprise at least one of target motion quantity of each motion axis of the table, the motion parameters of the table and time parameters, and the motion axes of the table comprise rotation quantity around an X axis, rotation quantity around a Y axis and Z axis height values; and controlling the operation of each motor based on the control parameters so as to enable the ball table to move to realize the goal of controlling the ball. Further, when the goal is to balance the ball or make the ball track, the controlling the motors to operate based on the control parameters to make the table move to achieve the goal comprises: Determining a target angle to be rotated by each motor according to the target motion amount of each motion axis; obtaining inverse kinematics solution of the ball control robot according to a geometric method; Demapping the inverse kinematics to a target angle at which each corresponding motor is to be rotated; Controlling operation of each of the motors based on the target angle. Further, when the goal is a pitch ball, the controlling the operation of each motor based on the control parameters to make the table move to achieve the goal comprises: obtaining the residual batting time based on the Z-axis coordinate value in the motion parameter and the ball speed calculation time parameter; calculating a target hitting speed according to the ball speed and the target ball height; Judging whether the residual batting time is between the starting time and the stopping time, and if so, controlling the ball table to pitch the ball based on the target batting speed. Further, the controlling the operation of each motor based on the control parameters specifically comprises: And controlling each motor based on a PID controller, wherein the input value of the PID controller comprises a target rotation angle Rx 1 of the ball table around the X axis, a target rotation angle Ry 1 of the ball table around the Y axis and a target height value z 1, the output value is an actual rotation angle Rx 2 of the ball table around the X axis, an actual rotation angle Ry 2 of the ball table around the Y axis and an actual height value z 2, and when the ball control is aimed at balancing tasks or enabling the ball to move in a tracking mode on the ball table, the input value and the output value of the PID controller do not comprise height values. Further, when the goal of ball control is ball tilting, performing PID control on the height value of the table, performing output amplitude limiting on a PID controller, and specifically comprising: Calculating the speed difference between the ball and the table; Limiting the speed difference to keep the speed difference within a preset range; calculating the maximum output limit of the PID controller according to the relative speed of the limited ball and the ball table; PID control is performed on the altitude value of the table based on the maximum output limit. A motion control device of a ball control robot, comprising: Acquiring the motion parameters of the ball through a binocular vision system; Determining control parameters for the table based on the ball control purpose, the motion parameters and the current gesture of the table, wherein the ball control purpose comprises basic motions such as ball tilting, ball catching, ball balancing and ball tracking, and compound motions based on multiple basic motions, the control parameters comprise at least o