Patent ID: 11878229
Assignee: OMRON CORPORATION
Field: Furniture, games (Other fields)
Classification: CPC A  G | IPC A

Claim 0:
1. A stroke decision device, comprising:
a processor;
a memory configured to programs executed by the processor to cause the stroke decision device to provide:
an acquisition section configured to acquire state information including a position, a translational velocity, and a rotational velocity of an incoming ball; and
a stroke condition decision section configured to decide a stroke condition to control movement of a striking implement of a ball-returning robot which is configured to hit back the incoming ball, the stroke condition including a position, a velocity, and an orientation of the striking implement of the ball-returning robot at a time point of hitting back the ball toward a target arrival position, based on the state information for the ball and the target arrival position when hitting back the ball with the striking implement,
wherein the stroke condition decision section includes:
a trajectory prediction section configured to compute trajectory information relating to a predicted trajectory of the incoming ball based on the state information for the ball;
a setting section configured to employ the trajectory information to set a strike position of the ball and to set post-strike state information including a post-strike velocity and a post-strike rotational velocity of the ball immediately after being struck;
an arrival position prediction section configured to compute a predicted arrival position based on the post-strike state information;
an adjustment section configured to adjust the post-strike velocity such that an error between the predicted arrival position and the target arrival position is within a permitted range; and
a stroke condition computation section configured to compute the velocity and the orientation of the striking implement such that the ball will conform to the post-strike state information when the ball conforming to the state information immediately prior to being struck is struck at the strike position; and
a communication interface configured to send the stroke condition to a control device to control the movement of the striking implement of the ball-returning robot.