乒乓球轨迹预测与旋转测量研究综述  

Summary of Research on Table Tennis Trajectory Prediction and Rotation Measurement

作　　者：吕程旭 樊锁钟 季云峰[2] 游义平 LU Chengxu;FAN Suozhong;JI Yunfeng;YOU Yiping(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China;School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093 [2]上海理工大学机器智能研究院,上海200093 [3]上海理工大学健康科学与工程学院,上海200093

出　　处：《电子科技》2023年第4期90-102,共13页Electronic Science and Technology

基　　金：国家自然科学基金(61773083);上海市浦江人才计划(2019PJD035);上海市人工智能创新发展专项基金(2019-RGZN-01041)。

摘　　要：在乒乓球人机对打过程中,球与球拍/球桌碰撞时会产生旋转,导致球体受马格努斯力的影响发生偏移,难以满足乒乓球机器人精确轨迹预测的要求,而乒乓球轨迹预测与旋转测量技术则有助于提升机器人的预测击打能力。为帮助研究人员了解乒乓球轨迹预测与旋转测量的研究方法和现有技术,文中对乒乓球轨迹预测与旋转测量研究新进展进行综述。基于近年来此领域的研究成果,文中对乒乓球轨迹预测与旋转测量工作进行重新分类和梳理,分析了不同方法的优缺点并整理了其中的关键问题,并对乒乓球轨迹预测与旋转测量未来的研究趋势进行了展望。In the process of table tennis man-machine sparring,the ball will rotate when it collides with the racket/table,which will cause the sphere to deviate due to the influence of the Magnus force.Therefore,it is difficult to meet the requirements of accurate trajectory prediction of table tennis robot.Trajectory prediction and rotation measurement technology can help improve the robot's ability of prediction and striking.In order to help researchers in this field understand the research methods and existing technologies of table tennis trajectory prediction and rotation measurement,the new developments in the research of table tennis trajectory prediction and rotation measurement are reviewed.After reclassifying and sorting out the research results based on the research achievements in this field in recent years,the advantages and disadvantages of different methods are analyzed and the key issues are sorted out.Finally,the future research trend of table tennis trajectory prediction and rotation measurement is prospected.

关 键 词：乒乓球 人机对打 碰撞 旋转 马格努斯力 乒乓球机器人 轨迹预测 旋转测量 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] G84[自动化与计算机技术—控制科学与工程]