TWI850142B - Intelligent virtual table tennis training simulator - Google Patents

Abstract

An intelligent virtual table tennis training simulator includes a base, a control module, a horizontal rotating motor, a horizontal movement tray, an elevation angle rotating motor, an elevation angle movement tray, a ball launcher assembly, and an image recognition module. the ball launcher assembly is located on the elevation angle movement tray and comprises a ball collection cylinder, a guiding section, a launching section, and a rotating section. the ball collection cylinder gathers table tennis balls, the guiding section conveys the table tennis balls to the launching section, and the rotating section adjusts the angle and launches the table tennis balls. the launching section consists of a first ball-launching wheel and a second ball-launching wheel positioned at a 180-degree angle to each other, both rotating to launch table tennis balls. This invention is capable of delivering balls with variable trajectories, including long and short balls, balls landing at predetermined or random positions, and balls with various spin angles. Additionally, it incorporates machine vision and self-learning capabilities to automatically determine the player's position and correct the launching position.

Description

Smart Table Tennis Training Simulator

This creation is about a training simulator, and in particular about an intelligent simulated billiards training simulator.

The invention of the ball game training simulator allows people to practice table tennis, baseball, tennis and other ball games by themselves without the need to seek help from companions or coaches, and allows them to arrange their practice time more flexibly.

In table tennis, the serving distance is short, the range of movement of the players is large, and the increased rotational friction during serving has a significant impact on the trajectory of the lightweight table tennis ball. Therefore, a good table tennis training simulator must be able to handle multi-directional spin or multi-angle serving.

In order to solve the above problems, one of the prior art technologies, such as the Republic of China Announcement No. I740720, provides an intelligent table tennis serving machine with image recognition, including a base, a control module, a horizontal rotation motor, an elevation rotation motor, a serving machine assembly and an image recognition module. The control module is arranged on the base, the horizontal rotation motor is arranged on a fixed stand of the base, the horizontal rotation motor is provided with a horizontal actuating plate, the elevation rotation motor is arranged on the horizontal actuating plate, the elevation rotation motor is provided with an elevation actuating plate, the serving machine assembly is arranged on the elevation actuating plate, the serving machine assembly is provided with a ball collection barrel, a serving wheel and a serving motor, the ball collection barrel is used to place table tennis balls, the serving motor drives the serving wheel to rotate, and the image recognition module is arranged on the serving machine assembly and is electrically connected to the control module. In this way, the serving machine can adjust the serving direction according to the user's position, racket orientation or set marks. However, the known technology is a table-top design placed on the table, and cannot simulate the player's real serving position by moving on the ground. In addition, the types of spin serves are only left and right spin, which is too monotonous, resulting in poor simulation.

Another known technology, such as the Republic of China Announcement No. I762343, is a multifunctional table tennis machine, comprising: a carrier, a ball collecting module, a ball sweeping module, a conveying module and a ball serving module, the bottom of the carrier is provided with a plurality of driving wheels, the interior of the carrier is provided with a containing space, the outer side of the carrier is provided with a control device, the driving wheels, the ball collecting module, the ball sweeping module, the conveying module and the ball serving module are electrically connected to the control device respectively, the ball sweeping module The ball collecting module sweeps the ball into the ball collecting module, and the ball collecting module sends the ball into the accommodating space. The conveying module is arranged in the accommodating space. The conveying module is provided with a lifting device, a third motor and a conveying trough. The lifting device transports the ball upward from the conveying trough. The serving module is arranged in the conveying module. The serving module is provided with a high-speed rotation device, a ball sending device and a fourth motor. The conveying module sends the ball to the ball sending device, and then the high-speed rotation device rotates and launches the ball. However, the serving principle of the known technology can only serve no-spin balls and left- and right-spin balls, which is very monotonous.

In addition, there is a prior art, such as Republic of China Announcement No. I573618, which is a multi-angle billiard serving device, including a base unit, a parallel robot unit, and a serving unit. The base unit includes a base and a support rod disposed on the base. The parallel robot unit includes three first connecting rods disposed at the top end of the support rod, three second connecting rods pivotally connected to the ends of the first connecting rods, three third connecting rods pivotally connected to the ends of the second connecting rods, a fixed seat connected to the ends of the three third connecting rods, three servo motors respectively located between the first and second connecting rods, and a controller electrically connected to the three servo motors. The ball-launching unit includes a launching seat connected to the fixed seat, and a launching motor disposed on the launching seat and electrically connected to the controller. However, although this known technique can serve both spinless and spinless balls, and can even serve at multiple angles including elevation, its spin balls can only serve left and right spin balls, and the types of balls served are relatively monotonous.

In view of this, previous technologies do need to be redeveloped, integrated, adjusted and improved.

The purpose of this invention is to provide an intelligent virtual table tennis training simulator to improve the shortcomings of previous technologies.

Another purpose of this invention is to provide an intelligent virtual table tennis training simulator that can provide left and right serves, suitable for forehand and backhand practice, and train the swing speed of forehand and backhand alternating continuous attacks.

Another purpose of this invention is to provide an intelligent virtual table tennis training simulator that can launch long balls, short balls, and balls at any fixed point, any landing point, in a cycle or at random, and can launch top, bottom, left, and right spin balls, and can launch left-side topspin, left-side backspin, right-side topspin, and right-side backspin at any angle.

Another purpose of this invention is to provide an intelligent virtual table tennis training simulator that can use machine vision combined with self-learning to automatically determine the player's position and control the serve force to correct the serve position.

Another purpose of this invention is to provide an intelligent virtual table tennis training simulator, which can axially rotate the serving part to generate spin at any angle, and does not tip the ball collecting tube when serving the spinning ball, making the serving process smoother.

To achieve the above and other purposes, the invention provides an intelligent virtual table tennis training simulator, comprising: a base with a fixed stand; a control module, disposed on the base; a horizontal rotation motor, disposed on the fixed stand and electrically connected to the control module, the horizontal rotation motor is provided with a horizontal actuating disk; an elevation rotation motor, disposed on the horizontal actuating disk and electrically connected to the control module, the elevation rotation motor is provided with an elevation actuating disk; a launcher assembly, disposed on the elevation actuating disk through a fuselage, the launcher assembly is provided with a ball collecting barrel, a guiding part, a launching part and a rotating part, the ball collecting barrel is used to collect and orderly The guide part transports the table tennis balls discharged from the ball collecting barrel to the launching part. The rotating part is electrically connected to the control module and makes the launching part rotate at an angle with the central axis of the guide part as the axis. The launching part is used to launch the input table tennis balls. The launching part has a first serving wheel and a second serving wheel. The first serving wheel and the second serving wheel are arranged at an angle of 180 degrees to each other on the periphery of a serving path of the launching part, and are driven by motors and electrically connected to the control module respectively; and an image recognition module is arranged on the elevation actuator plate. The image recognition module is electrically connected to the control module.

In one embodiment, the rotating part is provided with a gear connected to the transmitting part, and the rotating part is engaged with the gear through a rotating shaft gear connected to a rotary motor to drive the transmitting part to rotate. The rotary motor is fixed to the body part or the guide part.

In one embodiment, the launching part is provided with a launching tube, which is connected and sleeved on the end of the guide part, the inner diameter of the launching tube is provided with the launching path, the launching tube is connected to a base, the first serving wheel and the second serving wheel are provided on the base, and the launching tube is provided with slots corresponding to the outer peripheries of the first serving wheel and the second serving wheel, wherein when the rotating part rotates, the angle formed by the center point connecting line of the first serving wheel and the second serving wheel and the horizontal line is changed accordingly.

In one embodiment, the ball types of the control module include a no-spin serving mode and a spin serving mode. When the no-spin serving mode is activated, the first serving wheel and the second serving wheel rotate in opposite directions and have the same rotation speed. When the spin serving mode is activated, the first serving wheel and the second serving wheel rotate in opposite directions and have different rotation speeds.

In one embodiment, when the spin serving mode is activated, the control module controls the spin angle motor so that the angle between the launching tube and the guide portion is a static fixed angle or a continuously changing variable angle.

In one embodiment, the ball delivery mode of the control module includes a serving mode and a return mode. When the serving mode is activated, the control module controls the elevation rotation motor to lower the angle of the elevation actuating plate to serve a second jump ball in front of and behind the table net. When the return mode is activated, the control module controls the elevation rotation motor to raise the angle of the elevation actuating plate to serve a jump ball over the table net.

In one embodiment, the base is a floor-standing type, and the base is further provided with a moving unit, which can move the base along an X-axis and a Y-axis plane coordinate.

In one embodiment, a display unit is further included, which is electrically connected to the control module to display a serving parameter, and the serving parameter includes: a horizontal rotation angle of the horizontal actuator disc, an elevation angle of the elevation actuator disc, an angle of the launching tube, and the individual rotation speeds of the first serving wheel and the second serving wheel.

In one embodiment, the image recognition module has the function of recognizing the position of the human body and the point where the billiard ball lands on the table.

In one embodiment, the control module includes a table tennis ball landing point prediction and correction function, which automatically adjusts the angles of the horizontal rotation motor and the elevation rotation motor and the rotation force of the first serving wheel and the second serving wheel based on the recognition result of the previous table tennis ball landing point on the table by the image recognition module and the deviation of the desired landing point, so as to correct the next serving landing point on the table.

The directions or similar terms described in the entire text of this work, such as front, back, left, right, top, bottom, inside, outside, side, etc., are mainly referenced to the directions of the drawings. Each direction or similar terms are only used to assist in explaining and understanding the various embodiments of this work, and are not used to limit this work.

The articles used in the elements and components recorded in this work, such as one or the, are only for the convenience of use or simplified description and should be interpreted as including one or at least one, and the single concept also includes the plural concept unless it is obvious that there is a different meaning.

(10): Base

(101):Fixed stand

(11): Control module

(12): Horizontal rotation motor

(121):Horizontal actuator

(13): Elevation rotation motor

(131): Elevation actuator

(14): Ball launcher assembly

(140): Fuselage

(141):Ball collecting tube

(1411): Output port

(142): Guidance Department

(143): Transmitter

(1431): First serve wheel

(1432): Second serve wheel

(1435): Transmitter tube

(14351): Slotting

(1436): Base

(144): Rotating part

(1441): Gear Plate

(1442): Rotary motor

(14421): Shaft gear

(145): Ball drop motor

(146): Intermission drop plate

(1461):Ball hole

(15): Image recognition module

(16): Mobile unit

(17): Display unit

(A): Angle

(B): Table tennis

(a1,b1,c1,d1,e1,f1,g1,h1): landing area

(a2,b2,c2,d2,e2,f2,g2,h2): landing area

(T):Billiard table

(M): Net

Figure 1 is a three-dimensional exploded view of the intelligent virtual table tennis training simulator of an embodiment of this invention.

Figure 2 is a three-dimensional schematic diagram of the tabletop configuration of the intelligent virtual table tennis training simulator of an embodiment of this invention.

Figure 3 is a three-dimensional schematic diagram of the floor-standing form of the intelligent virtual table tennis training simulator of an embodiment of this invention.

Figures 4A to 4C are schematic diagrams of the right-side, center-side, and left-side positions of the serving device assembly of the intelligent virtual table tennis training simulator of an embodiment of this invention.

Figure 5 is a schematic diagram of the elevation swing of the serving device assembly of the intelligent virtual table tennis training simulator of an embodiment of the present invention.

Figure 6 is a schematic diagram of the rotation of the launching part of the serving assembly of the intelligent virtual table tennis training simulator of the first embodiment of the present invention.

Figures 7A to 7H are views before the launch part of the intelligent virtual table tennis training simulator of an embodiment of this invention rotates at various angles.

Figure 8 is a cross-sectional schematic diagram of the serving device assembly of the intelligent virtual table tennis training simulator of an embodiment of the present invention.

Figure 9 is a cross-sectional diagram of a spinning ball launched by an intelligent virtual table tennis training simulator according to an embodiment of the present invention.

Figure 10 is a three-dimensional schematic diagram of the ball collecting tube and ball discharging structure of the intelligent virtual table tennis training simulator of the first embodiment of this invention.

Figure 11 is a schematic diagram of the control of the launch point of the intelligent virtual table tennis training simulator in an embodiment of the present invention.

In order to make the above and other purposes, effects, and features more clearly understood, some preferred embodiments are cited below, and detailed descriptions are made with reference to the attached drawings. Without departing from the spirit of creation, this case has multiple implementation methods and is not limited to the details specifically described in the implementation methods below. The drawings may not be drawn according to the actual scale and are only provided for illustrating the embodiments.

FIG1 is a 3D exploded view of the intelligent virtual billiard training simulator of the first embodiment of the present invention, FIG2 is a 3D schematic diagram of the tabletop form of the intelligent virtual billiard training simulator of the first embodiment of the present invention, and FIG3 is a 3D schematic diagram of the floor-standing form of the intelligent virtual billiard training simulator of the first embodiment of the present invention. Please refer to FIG1, FIG2 and FIG3, the intelligent virtual billiard training simulator of the present embodiment is applied to a table T of a billiard B, and can realistically simulate the various spinless or spin ball paths of the trainer or the simulated opponent's serve in front of the net M or the return ball over the net M. The intelligent virtual table tennis training simulator includes: a base 10, a control module 11, a horizontal rotation motor 12, an elevation rotation motor 13, a server assembly 14 and an image recognition module 15. The base 10 has a fixed stand 101, and the base 10 can be a table-top type set on the T-table surface of the table or a floor-standing type set on the floor. If the base 10 is a floor-standing type, a moving unit 16 is also provided on the base 10, such as but not limited to a universal wheel, and the moving unit 16 can move the base 10 along an X-axis and a Y-axis plane coordinate. The control module 11 is, for example but not limited to, an MCU unit provided on the base 10.

Figures 4A to 4C are schematic diagrams of the left-right swing of the serving device assembly of the intelligent virtual table tennis training simulator of an embodiment of this invention. Please refer to Figures 4A to 4C. The horizontal rotating motor 12 of this embodiment is fixedly mounted on the fixed stand 101 and electrically connected to the control module 11, so that it receives the control action of the control module 11. The horizontal rotating motor 12 is provided with a horizontal actuating disc 121, so that the horizontal rotating motor 12 can control the horizontal actuating disc 121 to rotate horizontally by an angle.

FIG5 is a schematic diagram of the elevation swing of the serving device assembly of the intelligent virtual table tennis training simulator of an embodiment of the present invention. Please refer to FIG5. The elevation rotation motor 13 of the present embodiment is arranged on the horizontal actuating plate 121 and electrically connected to the control module 11. The elevation rotation motor 13 is provided with an elevation actuating plate 131, so that the elevation rotation motor 13 can control the elevation actuating plate 131 to change the elevation angle.

Figure 6 is a schematic diagram of the rotation of the launching part of the serving assembly of the intelligent virtual table tennis training simulator of the first embodiment of the present creation, Figures 7A to 7H are front views of the rotating angles of the launching part of the intelligent virtual table tennis training simulator of the first embodiment of the present creation, Figure 8 is a schematic diagram of the cross-section of the serving assembly of the intelligent virtual table tennis training simulator of the first embodiment of the present creation, and Figure 9 is a schematic diagram of the cross-section of the launching spin ball of the intelligent virtual table tennis training simulator of the first embodiment of the present creation. 6 to 9, the serving assembly 14 of the present embodiment is disposed on the elevation actuator plate 131 through a body portion 140, so that the entire serving assembly 14 can change its elevation angle along with the elevation actuator plate 131. The serving assembly 14 is provided with a ball collecting barrel 141 for collecting and orderly discharging the table tennis balls B. A guide portion 142 is provided below the ball collecting barrel 141 for conveying the table tennis balls discharged from the ball collecting barrel 141 to a launching portion 143. The launching portion 143 is connected to the end of the guide portion 142 for conveying the table tennis balls input into the launching portion 143. The ball B is launched, and a rotating part 144 is electrically connected to the control module 11 and causes the launch part 143 to rotate at an angle A around the central axis of the end of the guide part 142. The angle A can be any angle between 0 and 360 degrees. The launch part 143 has a first serving wheel 1431 and a second serving wheel 1432. The first serving wheel 1431 and the second serving wheel 1432 are arranged at an angle of 180 degrees to each other on the periphery of a serving path of the launch part 143, and are driven by motors and electrically connected to the control module 11 respectively.

The image recognition module 15 of this embodiment is disposed on the elevation actuator plate 131. The image recognition module 15 is electrically connected to the control module 11 to provide the control module 11 with the recognition results of the human body position and the point where the table tennis ball lands on the table, so as to automatically set and launch the ball type and ball path according to the position of the player (user).

As shown in FIG. 1 and FIG. 8 , the rotating part 144 is provided with a gear 1441 connected to the emitting part 143. The rotating part 144 is engaged with the gear 1441 through a rotating shaft gear 14421 connected to a rotary motor 1442 to drive the emitting part 143 to rotate. The rotary motor 1442 is fixed to the body part 140 or the guide part 142.

As shown in FIG. 6 and FIG. 7A to FIG. 7H, the launching portion 143 has a straight launching tube 1435, the launching tube 1435 is sleeved at the end of the guide portion 142, the inner diameter of the launching tube 1435 is provided with the launching path, the gear plate 1441 is provided at the outer diameter of the launching tube 1435 and is coaxial with the launching tube 1435, and the launching tube 1435 is further connected to a base 1 436, the first serving wheel 1431 and the second serving wheel 1432 are respectively arranged on both sides of the tube body of the launching tube 1435 on the base 1436, and the launching tube 1435 is provided with slots 14351 corresponding to the outer peripheries of the first serving wheel 1431 and the second serving wheel 1432, so that the outer edges of the two serving wheels can slightly enter the tube to provide friction for serving. When the rotating part 144 rotates, the angle A formed by the center point connection line of the first serving wheel 1431 and the second serving wheel 1432 and the horizontal line is changed accordingly. Therefore, the design of the rotating part 144 allows only the local area such as the launching tube 1435 to be tilted when serving a spinning ball, without having to tilt the ball collecting tube 141 to affect its function of discharging the table ball B, making the entire serving process smoother and more stable.

As shown in FIG. 7A , FIG. 8 and FIG. 9 , the ball serving types of the control module 11 include a no-spin serving mode and a spin serving mode. When the no-spin serving mode is selected and activated, the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions and have the same rotation speed. When the spin serving mode is activated, the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions and have different rotation speeds. For example, when the angle A of the launch tube 1435 is 90 degrees, the first serving wheel 1431 and the second serving wheel 1432 are respectively located at the upper and lower positions of the launch tube 1435 in the figure: when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path launched is a spinless ball; when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path launched is a spinless ball; When the two serving wheels 1432 rotate in opposite directions (outward) and the first serving wheel 1431 rotates at a higher speed than the second serving wheel 1432, a topspin ball (i.e., an upward floating ball) is served; when the first serving wheel 1431 rotates in opposite directions (outward) and the second serving wheel 1432 rotates at a lower speed than the second serving wheel 1432, a backspin ball (i.e., a downward dropping ball) is served. In addition, FIG. 7E is a mirror image of FIG. 7A, that is, when the angle A of the launch tube 1435 is 270 (-90) degrees, the first and second serving wheels (1431, 1432) have the same speed, which is a no-spin ball. When the speed of the first serving wheel 1431 is greater than that of the second serving wheel 1432, it is a backspin ball, and when the speed is less than that of the second serving wheel 1432, it is a topspin ball.

As shown in Figures 7C, 8 and 9, similarly, when the angle A of the launch tube 1435 is 0 degrees, the first serving wheel 1431 and the second serving wheel 1432 are respectively located at the left and right positions of the launch tube 1435: when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path launched is a non-spin ball; when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and the first serving wheel 1431 rotates faster than the second serving wheel 1432, a right-handed ball is launched; when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and the first serving wheel 1431 rotates slower than the second serving wheel 1432, a left-handed ball is launched. Similarly, the angle A of the emitting tube 1435 in FIG7G is rotated to 180 degrees, which is the mirror state of FIG7C.

As shown in FIG. 7B , FIG. 8 and FIG. 9 , when the angle A of the launch tube 1435 is 45 degrees, the first serving wheel 1431 and the second serving wheel 1432 are respectively located at the lower left and upper right positions of the launch tube 1435 in the figure: when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path is a spinless ball; when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path is a spinless ball; When the rotating wheel 1431 rotates in the opposite direction (outward) to the second serving rotating wheel 1432 and the speed of the first serving rotating wheel 1431 is greater than that of the second serving rotating wheel 1432, a right top spin ball is delivered; when the first serving rotating wheel 1431 rotates in the opposite direction (outward) to the second serving rotating wheel 1432 and the speed of the first serving rotating wheel 1431 is less than that of the second serving rotating wheel 1432, a left bottom spin ball is delivered. The angle A of the launch tube 1435 in FIG. 7F is 225 degrees, which is the mirror state of FIG. 7B.

7D, 8 and 9, when the angle A of the launch tube 1435 is 315 (-45) degrees, the first serving wheel 1431 and the second serving wheel 1432 are respectively located at the upper left and lower right positions of the launch tube 1435 in the figure: when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path is a spinless ball; when the first serving wheel 1431 and the second serving wheel 1432 rotate in opposite directions (outward) and at the same speed, the ball path is a spinless ball; When the first serving wheel 1431 rotates in the opposite direction (outward) to the second serving wheel 1432 and the speed of the first serving wheel 1431 is greater than that of the second serving wheel 1432, a right lower spin ball is served; when the first serving wheel 1431 rotates in the opposite direction (outward) to the second serving wheel 1432 and the speed of the first serving wheel 1431 is less than that of the second serving wheel 1432, a left upper spin ball is served. The angle A of the launch tube 1435 in FIG. 7H is 135 degrees, which is the mirror state of FIG. 7D.

Of course, the angle A of the launch unit 143 can be any static angle in addition to the above 8 specific angles. By combining the different rotation speeds of the first serving wheel 1431 and the second serving wheel 1432, more angles of spin balls (curve balls) can be launched.

Even more, the angle A of the launch part 143 can be a non-static variable angle (i.e. when serving, the spin motor 1442 continuously operates to make the gear plate 1441 continuously rotate), so that a spiral rotation can be added to the spin ball to form a ball path closer to a human serve or return ball.

In addition, the ball delivery mode of the control module 11 includes a serving mode and a return mode. When the serving mode is activated, the control module 11 controls the elevation rotation motor 13 to lower the angle of the elevation activation plate 131, so as to facilitate the secondary jump ball from the front of the net M of the table T to the back of the net M. When the return mode is activated, the control module 11 controls the elevation rotation motor 13 to raise the angle of the elevation activation plate 131, so as to facilitate the primary jump ball or high toss from the table T over the net M.

FIG10 is a three-dimensional schematic diagram of the ball collecting tube and ball discharging structure of the intelligent virtual table tennis training simulator according to an embodiment of the present invention. Please refer to FIG. 10 . It is worth mentioning that, in the intelligent virtual table tennis training simulator as described in claim 1 , the body 140 is provided with a ball drop plate motor 145 , the bottom of the ball collecting tube 141 is provided with an output hole 1411 , and the ball collecting tube 141 is provided with an intermittent ball drop plate 146 , the intermittent ball drop plate 146 is provided with a ball drop hole 1461 , the ball drop plate motor 145 drives the intermittent ball drop plate 146 to rotate, and when the ball drop hole 1461 rotates to a position aligned with the output hole 1411 , the table tennis balls in the ball collecting tube 141 that enter the ball drop hole 1461 can be discharged from the output hole 1411

Preferably, as shown in FIG. 1 , the invention may further include a display unit 17 electrically connected to the control module 11 to display a serving parameter, and the serving parameter includes: a horizontal rotation angle of the horizontal actuator plate 121, an elevation angle of the elevation actuator plate 131, an angle A of the launch tube 1435, and the individual rotation speeds of the first serving wheel 1431 and the second serving wheel 1432.

FIG11 is a schematic diagram of the control of the launch point of the intelligent virtual table tennis training simulator of an embodiment of the present invention. As shown in FIG11, preferably, the image recognition module 15 has the function of recognizing the position of the human body and the point where the table tennis ball lands on the table. Furthermore, by applying the aforementioned recognition data of the point where the table tennis ball lands on the table, the control module 11 further includes a function of predicting and correcting the path of the table tennis ball landing point: for example, the present invention can predict and correct the path of the table tennis ball landing point according to the current position of the base 10, the position of the table T, the current rotation angle of the horizontal actuator plate 121, the current pitch angle of the elevation actuator plate 131, the rotation angle of the gear plate 1441, and the first serving wheel 1431 and The serving parameters such as the individual rotation speed and rotation force of the second serving wheel 1432 predict the path of a served ball. Therefore, the invention can preset several serving table T landing points to create "functional options", such as the landing point areas (a1, b1, c1, d1, e1, f1, g1, h1) of each short ball or the landing point areas (a2, b2, c2, d2, e2, f2, g2, h2) of each long ball as shown in FIG. 11, and reversely infer each serving parameter based on each landing point to serve the table ball B, thereby achieving one-key function option conversion of ball path, serving landing point, and serving in landing point order or serving at random landing points. The image recognition module 15 can also be further applied to identify the actual landing point of the billiard ball B, and then compare it with the default landing point of the table T for the serve, and adjust the serving parameters accordingly so that the next serving landing point approaches the default serving landing point.

Furthermore, after adjusting the serving parameters according to the actual landing point of the billiard ball B, the prediction of the landing point path of the billiard ball of the control module 11 can be further corrected to perform a self-correction function for serving accuracy.

In summary, this invention can control the horizontal rotation angle and vertical pitch angle of the serving assembly through the stacked horizontal rotation motor and the elevation rotation motor, and further control the axial rotation angle of the launching tube and the first serving wheel and the second serving wheel through the rotation angle motor, the shaft gear and the gear plate, and cooperate with the common rotation direction, rotation speed and force of the first serving wheel and the second serving wheel to achieve the ability to serve no-spin balls or balls with various angles of rotation. It can also control the various landing points on the table after serving, and combine the ability of the image recognition module to identify the player's position to achieve various functions such as left-handed players and right-handed players practicing and simulating the opponent's ball path. It can also use the recognition ability of the image recognition module and combine the AI function to automatically adjust the serving landing point.

This creation has been disclosed using the above-mentioned preferred embodiments, but they are not used to limit this creation. Those with ordinary knowledge in the technical field to which this creation belongs can clearly understand that this creation is not limited to the details of the above-mentioned illustrative implementation methods. The implementation methods are only for explaining this creation, not for limiting this creation. This creation is based on the scope of the patent application, not on the above-mentioned description. The meaning of the scope of the patent application and its equivalent scope are all within the scope of the patent right of this creation.

(10): Base

(101):Fixed stand

(11): Control module

(12): Horizontal rotation motor

(121):Horizontal actuator

(13): Elevation rotation motor

(131): Elevation actuator

(14): Ball launcher assembly

(140): Fuselage

(141):Ball collecting tube

(1411): Output port

(142): Guidance Department

(143): Transmitter

(1431): First serve wheel

(1432): Second serve wheel

(1435): Transmitter tube

(1436): Base

(144): Rotating part

(1441): Gear Plate

(1442): Rotary motor

(14421): Shaft gear

(17): Display unit

Claims (10)

A smart virtual table tennis training simulator comprises: a base (10) having a fixed stand (101); a control module (11) disposed on the base (10); a horizontal rotation motor (12) disposed on the fixed stand (101) and electrically connected to the control module (11), the horizontal rotation motor (12) being provided with a horizontal actuating disk (121); an elevation rotation motor (13) disposed on the horizontal actuating disk (121) and electrically connected to the control module (11), the elevation rotation motor (13) being provided with a The invention relates to an elevation actuating plate (131); a launcher assembly (14) which is arranged on the elevation actuating plate (131) through a fuselage (140); the launcher assembly (14) is provided with a ball collecting cylinder (141), a guide portion (142), a launching portion (143) and a rotating portion (144); the ball collecting cylinder (141) is used to collect and orderly discharge the table tennis balls; the guide portion (142) transports the table tennis balls discharged from the ball collecting cylinder (141) to the launching portion (143); the launching portion (143) is provided with a launching tube (143) 5), the inner diameter of the launching tube (1435) is provided with a serving path, the launching tube (1435) is connected to and sleeved on the end of the guide part (142), the rotating part (144) is electrically connected to the control module (11) and enables the launching part (143) to rotate at an angle A around the central axis of the end of the guide part (142), the launching part (143) is used to launch the input billiard ball, wherein the launching part (143) has a first serving wheel (1431) and a second serving wheel (1432), the A first serving wheel (1431) and a second serving wheel (1432) are arranged at an angle of 180 degrees to each other on the periphery of the serving path of the launching portion (143), and are driven by motors respectively and are electrically connected to the control module (11), and when launching a billiard ball, the rotation speeds of the first serving wheel (1431) and the second serving wheel (1432) are the same or different; and an image recognition module (15) is arranged on the elevation actuator plate (131), and the image recognition module (15) is electrically connected to the control module (11). The intelligent virtual table tennis training simulator as described in claim 1, wherein the rotating part (144) is provided with a gear (1441) connected to the launching part (143), and the rotating part (144) is engaged with the gear (1441) through a rotating shaft gear (14421) connected to a rotary motor (1442) to drive the launching part (143) to rotate, and the rotary motor (1442) is fixed to the body part (140) or the guide part (142). The intelligent virtual table tennis training simulator as described in claim 1, wherein the launch tube (1435) is connected to a base (1436), the first serving wheel (1431) and the second serving wheel (1432) are arranged on the base (1436), the launch tube (1435) is provided with slots (14351) corresponding to the outer peripheries of the first serving wheel (1431) and the second serving wheel (1432), wherein when the rotating part (144) rotates, the angle (A) formed by the connecting line of the center points of the first serving wheel (1431) and the second serving wheel (1432) and the horizontal line is changed accordingly. The intelligent virtual table tennis training simulator as described in claim 1, wherein the ball types of the control module (11) include a no-spin serving mode and a spin serving mode. When the no-spin serving mode is activated, the first serving wheel (1431) and the second serving wheel (1432) rotate in opposite directions and have the same rotation speed. When the spin serving mode is activated, the first serving wheel (1431) and the second serving wheel (1432) rotate in opposite directions and have different rotation speeds. As described in claim 2, the intelligent virtual table tennis training simulator, wherein when the spin ball serving mode is activated, the control module (11) controls the spin angle motor (1442) so that the angle (A) between the launch tube (1435) and the guide part (142) is a static fixed angle or a continuously changing variable angle. The intelligent virtual table tennis training simulator as described in claim 1, wherein the ball delivery mode of the control module (11) includes a serving mode and a return mode. When the serving mode is activated, the control module (11) controls the elevation rotation motor (13) to lower the angle of the elevation actuating plate (131) to serve two jump balls in front of and behind the table (T). When the return mode is activated, the control module (11) controls the elevation rotation motor (13) to raise the angle of the elevation actuating plate (131) to serve one jump ball over the table (T). As described in claim 1, the intelligent virtual table tennis training simulator, wherein the base (10) is a floor-standing type, and the base (10) is further provided with a moving unit (16), and the moving unit (16) can move the base (10) along an X-axis and a Y-axis plane coordinate. The intelligent virtual table tennis training simulator as described in claim 1 further comprises a display unit (17) electrically connected to the control module (11) to display a serving parameter, and the serving parameter includes: a horizontal rotation angle of the horizontal actuator disc (121), an elevation angle of the elevation actuator disc (131), an angle of the launch tube (1435), and the respective rotation speeds of the first serving wheel (1431) and the second serving wheel (1432). As described in claim 1, the intelligent virtual table tennis training simulator, wherein the image recognition module (15) has the function of recognizing the position of the human body and the point where the table tennis ball lands on the table. The intelligent virtual table tennis training simulator as described in claim 1, wherein the control module (11) includes a table tennis landing point prediction and correction function, which automatically adjusts the angles of the horizontal rotation motor (12) and the elevation rotation motor (13) and the rotation force of the first serving wheel (1431) and the second serving wheel (1432) based on the recognition result of the table tennis landing point on the table by the image recognition module (15) and the deviation of the desired landing point, so as to correct the next serving landing point on the table (T).

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