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US 2021/0283485 A1Published application
Rotation Estimation Device, Rotation Estimation Method, Recording Medium Stored with Rotation Estimation Program, Trajectory Prediction Device, Trajectory Prediction Method, Recording Medium Stored with Trajectory Prediction Program, and Ball-Returning Robot
AssigneeOMRON Corporation
InventorsYuki Sasaki, Masamune Nakayama, Kyohei Asai, Satoshi Yase, Masayuki Koizumi
Life of this patent
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Abstract
The present disclosure provides a rotation estimation device including an acquisition section and a rotation estimation section.
Claims14
A rotation estimation device, comprising:
- an acquisition section configured to acquire state information including a measured position and a measured velocity of an incoming ball;
- and
- a rotation estimation section configured to solve an aerodynamic model based on the measured position and the measured velocity of the ball at a first time point, and based on a provisional rotational velocity, so as to perform processing to find a predicted position and a predicted velocity of the ball at a second time point different from the first time point for a plurality of the provisional rotational velocities, and so as to compute, as an estimated rotational velocity, either the provisional rotational velocity minimizing a difference between the predicted position at the second time point and the measured position at the second time point or a predicted rotational velocity at the second time point corresponding to the provisional rotational velocity minimizing the difference.
A rotation estimation method in which a computer executes processing comprising:
- acquiring state information including a measured position and a measured velocity of an incoming ball;
- and
- solving an aerodynamic model based on the measured position and the measured velocity of the ball at a first time point and based on a provisional rotational velocity so as to perform processing to find a predicted position and a predicted velocity of the ball at a second time point different from the first time point for a plurality of the provisional rotational velocities, and so as to compute, as an estimated rotational velocity, either the provisional rotational velocity minimizing a difference between the predicted position at the second time point and the measured position at the second time point or a predicted rotational velocity at the second time point corresponding to the provisional rotational velocity minimizing the difference.
A non-transitory recording medium storing a rotation estimation program that is executable by a computer to perform processing, the processing comprising:
- acquiring state information including a measured position and a measured velocity of an incoming ball;
- and
- solving an aerodynamic model based on the measured position and the measured velocity of the ball at a first time point and based on a provisional rotational velocity so as to perform processing to find a predicted position and a predicted velocity of the ball at a second time point different from the first time point for a plurality of the provisional rotational velocities, and so as to compute, as an estimated rotational velocity, either the provisional rotational velocity minimizing a difference between the predicted position at the second time point and the measured position at the second time point or a predicted rotational velocity at the second time point corresponding to the provisional rotational velocity minimizing the difference.
Dependencies are inferred from the claim text.