Rotation estimation device, rotation estimation method, rotation estimation program, trajectory predicting device, trajectory prediction method, trajectory prediction program, and return ball robot

摘要

Problem: it is possible to estimate the rotation speed of a ball to be hit by a simple structure without using a special ball, and to predict the trajectory of the ball which has been rotated with a simple structure.The rotation estimation device 31 isA acquiring section 33 for acquiring state information including an actual measurement position of a ball to be measured and an actual measurement speed, andBy solving the aerodynamic model based on the measured position of the ball and the measurement speed and the temporary rotation speed of the ball at the first stageThe processing of determining the predicted position and the prediction speed of the ball at the second point different from the first point is performed for a plurality of temporary rotation speeds.The rotation estimation part 34 calculates the predicted rotational speed at the second point corresponding to the temporary rotation speed at which the difference between the predicted position at the second point and the actual measurement point at the second point becomes the smallest at which the temporary rotation speed or the difference becomes smallest, as the estimated rotational speed, and.Diagram