基于嵌入式控制的乒乓球自动化发球系统设计

Design of table tennis automatic serve system based on embedded control

为了使乒乓球运动员可以更好地学习乒乓球技术,乒乓球自动化发球系统是当前乒乓球训练过程中的主要辅助训练设备。针对原有乒乓球自动化发球系统对于集中性控制能力较差的问题,从整体出发设计了一种新型可控发球设备,即基于嵌入式控制的乒乓球自动化发球系统。根据优化后系统硬件框架,对发球装置进行优化设计,索尼(SONY)Alpha 7R作为图像采集设备并在其中安装CMOS传感器,RM Cortex-M1,ARM Cortex-M3两款处理器作为设备中央控制芯片实现系统中其他设备功能。引用均值滤波技术以及PID控制器,改善乒乓球图像采集模块与乒乓球发球控制模块使用功能,实现乒乓球运动角度分析及发球角度控制的系统设计需求。结合硬件与软件设计结果,基于嵌入式控制的乒乓球自动化发球系统设计完成。构建系统测试环节,经测试结果验证此系统对于发球集中性的控制能力优于原有系统。在日后的训练过程中可使用此系统辅助运动员完成训练过程。

In order to make table tennis players better learn table tennis technology, table tennis automatic service system is the main auxiliary training equipment in the current table tennis training process.In view of the poor centralized control ability of the original table tennis automatic service system, a new type of controllable service equipment is designed, that is, the table tennis automatic service system based on embedded control.According to the optimized hardware framework of the system, the serve device is optimized.Sony Alpha 7 R is used as the image acquisition device, in which CMOS sensors are installed, and RM cortex-m1 and arm Cortex-M3 processors are used as the central control chip to realize the functions of other devices in the system.The mean filtering technology and PID controller are used to improve the function of table tennis image acquisition module and table tennis serve control module, and realize the system design requirements of table tennis movement angle analysis and serve angle control.Combined with the results of hardware and software design, the table tennis automatic service system based on embedded control is designed.The test results show that the control ability of the system is better than the original system.In the future training process, this system can be used to assist athletes to complete the training process.