Tennis ball machine and control method therefor
Patent Information
- Application Number
- AU2026205195
- Authority / Receiving Office
- AU · AU
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-11
- Filing Date
- 2026-01-19
- Publication Date
- 2026-08-27
Smart Images
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Abstract
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority to, and is a continuation of, International Application No. PCT / CN2026 / 073384 filed January 19, 2026, which itself claims priority to Chinese Patent Application No. 202510151176.5 filed February 11, 2025. The entire disclosures of each of the foregoing applications are incorporated herein by reference. TECHNICAL FIELD
[0002] The present disclosure belongs to the technical field of tennis ball machines, and specifically to a tennis ball machine and a control method therefor. BACKGROUND
[0003] With the population of tennis, more and more professional athletes and tennis enthusiasts use tennis ball machines for training to improve their skills. As widely used equipment for tennis training, a tennis ball machine can automatically serve a ball based on a user setting and can provide stable return training for users.
[0004] However, the traditional tennis ball machine relies on its preset ball serving manner. Although the traditional tennis ball machine can provide a basic training function, a training mode provided by the traditional tennis ball machine is relatively fixed and rigid due to its own program. It cannot adapt to users with different skill levels and different needs. As a result, users are often restricted in their training.
[0005] For the foregoing problems, some tennis ball machines have a function of adjusting a ball serving speed, a rotation angle, and a placement point to an extent. However, these functions also need to be achieved based on preset parameters, and fail to respond to real-time requirements of users in a training process. Moreover, for some users, it is necessary to make corresponding adjustments in multiple dimensions to achieve a particular ball serving manner by the tennis ball machine. However, this adjustment process is time-consuming and laborious, and cannot ensure that a user-expected effect can be achieved. This can easily affect a user experience. SUMMARY
[0006] To overcome the defects of the foregoing prior art, the present disclosure provides a tennis ball machine, including a camera device, a control device connected to the camera device, and a ball feeding device and a ball serving device that are controlled by the control device. The ball serving device is arranged on a ball delivery path of the ball feeding device.
[0007] The camera device is configured to: photograph a user to obtain image data containing the user and transmit the image data to the control device, and the control device determines the image data as first image data containing an indication motion or second image data not containing the indication motion.
[0008] The control device is configured to: determine a ball feeding parameter based on the first image data and control the ball feeding device to transfer tennis balls to the ball serving device based on the ball feeding parameter, and / or determine a first ball serving parameter based on the first image data, and control the ball serving device to eject tennis balls based on the first ball serving parameter.
[0009] The control device is further configured to: determine the ball feeding parameter based on the second image data and control the ball feeding device to transfer tennis balls to the ball serving device based on the ball feeding parameter, and / or determine a second ball serving parameter based on the second image data, and control the ball serving device to eject tennis balls based on the second ball serving parameter.
[0010] Specifically, the ball feeding device includes a turntable and a first driving mechanism connected to the turntable.
[0011] A ball inlet is formed in a bottom side of the ball feeding device. The turntable is rotatably arranged on an upper side of the ball inlet and is provided with a plurality of fixing openings for positioning tennis balls. The fixing openings are communicated with the ball inlet.
[0012] The first driving mechanism is connected to the control device, and is controlled, based on the ball feeding parameter, by the control device to drive the turntable to rotate, so that one fixing opening is communicated with the ball inlet and a tennis ball at the fixing opening is transferred to the ball serving device through the fixing opening and the ball inlet.
[0013] Specifically, the ball serving device includes a fixed seat, a bracket movably connected to the fixed seat, a guide mechanism movably connected to the bracket, a ball serving wheel arranged at a ball serving end of the guide mechanism, a second driving mechanism which is in driving connection to the bracket, a third driving mechanism which is in driving connection to the guide mechanism, and a fourth driving mechanism which is in driving connection to the ball serving wheel.
[0014] The second driving mechanism is connected to the control device, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device to drive the bracket to rotate relative to the fixed seat.
[0015] The third driving mechanism is connected to the control device, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device to drive the guide mechanism to rotate relative to the bracket, and a direction of rotation of the bracket driven by the second driving mechanism is perpendicular to a direction of rotation of the guide mechanism driven by the third driving mechanism.
[0016] The fourth driving mechanism is connected to the control device, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device to drive the ball serving wheel to rotate.
[0017] Further, the tennis ball machine includes a display device. A display direction of the display device is consistent with an image capturing direction of the camera device.
[0018] The control device is further configured to: determine a display parameter based on the first image data and / or the second image data, and control the display device to be turned on, be turned off, or adjust a display manner based on the display parameter.
[0019] Preferably, the tennis ball machine further includes a voice device connected to the control device.
[0020] The voice device is configured to: obtain speech data of the user and transmit the speech data to the control device, so that the control device determines the ball feeding parameter based on the speech data and controls the ball feeding device to transfer the tennis balls to the ball serving device based on the ball feeding parameter;
[0021] and / or, the control device determines a third ball serving parameter based on the speech data, and controls the ball serving device to eject tennis balls based on the third ball serving parameter.
[0022] The present disclosure further provides a control method, applied to the foregoing tennis ball machine. The method includes:
[0023] identifying the image data transmitted by the camera device through the control device;
[0024] if the image data contains an indication motion, determining the image data as the first image data, and causing the control device to determine the ball feeding parameter and / or the first ball serving parameter based on the first image data; if the image data does not contain the indication motion, determining the image data as the second image data, and causing the control device to determine the ball feeding parameter and / or the second ball serving parameter based on the second image data; and
[0025] causing the control device to control, based on the ball feeding parameter, the ball feeding device to transfer tennis balls to the ball serving device, and / or to control, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject tennis balls.
[0026] Specifically, the ball feeding parameter includes a quantity parameter and an interval time parameter. The controlling, based on the ball feeding parameter, the ball feeding device to transfer tennis balls to the ball serving device includes:
[0027] controlling, through the control device based on the interval time parameter, the ball feeding device to periodically transfer the tennis balls to the ball serving device, until a quantity of tennis balls that have been already transferred by the ball feeding device meets a requirement of the quantity parameter.
[0028] The ball serving device includes a fixed seat, a bracket rotatably connected to the fixed seat, a guide mechanism rotatably connected to the bracket, and a ball serving wheel arranged at a ball serving end of the guide mechanism. A direction of rotation of the bracket relative to the fixed seat is parallel to a horizontal plane, and a direction of rotation of the guide mechanism relative to the bracket is perpendicular to the horizontal plane. The ball serving parameter includes a ball serving direction parameter, a ball serving angle parameter, and a ball serving speed parameter. The controlling, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject tennis balls includes:
[0029] through the control device, controlling, based on the ball serving direction parameter, the bracket to rotate relative to the fixed seat, and controlling, based on the ball serving angle parameter, the guide mechanism to rotate relative to the bracket; and
[0030] controlling, through the control device, a rotating speed of the ball serving wheel based on the ball serving speed parameter, to cause the tennis balls to be ejected from the ball serving device through the ball serving wheel.
[0031] Preferably, the method further includes:
[0032] recording the ball serving parameter determined by the control device, and after the control device controls, based on the ball serving parameter, the ball serving device to eject the tennis balls, controlling the camera device to photograph a user to record feedback image data containing the user, and generating a set of motion data based on the ball serving parameter and the feedback image data; and
[0033] causing the control device to analyze the motion data in a preset manner, and displaying an analysis result to the user.
[0034] Further, the "causing the control device to determine the ball feeding parameter and / or the first ball serving parameter based on the first image data" is implemented based on a preset database, and the preset database includes a plurality of sets of preset data containing indication motion data and parameter data. The method further includes:
[0035] causing the control device to generate, in response to an input instruction including the ball feeding parameter and / or the first ball serving parameter, parameter data based on the input instruction, and control the camera device to photograph the user to obtain set image data containing the user;
[0036] identifying a user motion contained in the set image data to generate the indication motion data, determining whether preset data containing the indication motion data exists in the preset database, and deleting the preset data from the preset database if the preset data exists; and
[0037] generating a set of preset data based on the indication motion data and the parameter data, and storing the set of preset data into the preset database.
[0038] Further, the method includes:
[0039] if the control device determines the image data as the second image data, determining the second ball serving parameter and the ball feeding parameter based on the second image data;
[0040] causing the control device to control, based on the second ball serving parameter, the ball serving device to eject the tennis balls and then control, based on the ball feeding parameter, the ball feeding device to transfer the tennis balls to the ball serving device;
[0041] controlling, through the control device, the camera device to photograph the user to obtain image data containing a hitting motion of the user as new second image data, and analyzing, based on the second image data, whether the user hits a tennis ball successfully; and
[0042] if the user hits the tennis ball successfully, repeating execution of the step of "determining the second ball serving parameter and the ball feeding parameter based on the second image data", until the user fails to hit a tennis ball or the ball serving device has ejected a preset quantity of tennis balls.
[0043] The present disclosure at least has the following beneficial effects:
[0044] The tennis ball machine provided in the present disclosure captures motions of the user through the camera device and analyzes the image data. The control device can determine motion performance of the user in real time and generate appropriate tennis ball machine parameters based on the image data, to adjust ball serving and ball feeding based on indication motion characteristics of the user, thereby effectively enhancing training efficiency and pertinence and helping the user to independently conduct efficient personalized training, and the user can obtain more appropriate feedback during training.
[0045] Further, due to the design in which the plurality of fixing openings on the turntable included in the ball feeding device of the tennis ball machine provided in the present disclosure are communicated with the ball inlet, the turntable can be rotated and adjusted based on an instruction of the control device, and then the tennis ball is precisely transferred to the ball serving device through cooperation of the control device, the first driving mechanism, and the turntable. The ball serving device can precisely control a ball serving angle, speed, and direction of a tennis ball through the cooperation between a plurality of movable mechanisms and driving mechanisms corresponding to the movable mechanisms, thereby enhancing diversity of ball serving manners of the tennis ball machine and facilitating simulation of a situation closer to a real ball serving situation.
[0046] By the arrangement of the display device cooperating with the camera device, the tennis ball machine can generate corresponding information feedback to the user. A speech recognition function implemented by the voice device allows the user to adjust the ball feeding parameter and the ball serving parameter based on a speech instruction. This further enhances interactivity and flexibility of the tennis ball machine.
[0047] Correspondingly, the control method adapting to the tennis ball machine provided in the present disclosure can intelligently adjust the ball feeding parameter and the ball serving parameter by capturing a motion of the user in real time and generating feedback. By combining the ball serving parameter with corresponding user motion feedback image data and performing analysis and feedback, the user can corresponding improve the motion skill of the user, enhance training efficiency and effect, and correct wrong motions in a timely manner.
[0048] The user can adjust parameters corresponding to indication motions on own, and parameter data of interaction with the user is generated, stored, and managed in the tennis ball machine, thereby providing a data support for a subsequent control operation of a user motion identification control device, meeting a personalized need of the user, and ensuring intelligence and adaptability of the tennis ball machine. The method can further monitor a hitting motion of the user based on real-time analysis on the image data, thereby continuously performing ball feeding and ball serving. In addition, the ball serving parameter can be dynamically adjusted in this process, thereby simulating an actual rally effect and ensuring that training has more efficient interactions and feedback.
[0049] Therefore, the present disclosure provides the tennis ball machine and the control method therefor. The solution provided in the present disclosure can accurately determine a motion of a user by capturing the image data of the user in real time through the camera device, and the control device intelligently determines the ball feeding parameter and the ball serving parameter based on different image data, to make intelligent adjustment based on a real-time requirement of the user, thereby enhancing interactivity and personalization of use of the tennis ball machine for training. The solution can effectively enhance training efficiency and quality and greatly optimize a training effect and a user experience. BRIEF DESCRIPTION OF THE DRAWINGS
[0050] For clearer descriptions of the technical solutions according to the embodiments of the present disclosure, the drawings required to be used in the description of the embodiments are briefly introduced below. It is apparent that the drawings in the description below are only some embodiments of the present disclosure, and it is apparent for those skilled in the art that other drawings can be acquired according to the drawings without creative efforts.
[0051] FIG. 1 is a schematic diagram of an overall structure of a tennis ball machine provided in Embodiment 1;
[0052] FIG. 2 is a schematic diagram of a structure of a tennis ball machine from which a part of a housing is removed;
[0053] FIG. 3 is a schematic diagram of a structure of a ball feeding device;
[0054] FIG. 4 is a schematic diagram of a structure of a ball feeding device after a baffle plate is removed;
[0055] FIG. 5 is a schematic diagram of a structure of a bottom side of a ball feeding device;
[0056] FIG. 6 is a schematic diagram of a structure of a ball serving device;
[0057] FIG. 7 is a schematic diagram of another structure of a ball serving device;
[0058] FIG. 8 is a method flowchart of a control method according to Embodiment 2;
[0059] FIG. 9 is a flowchart of a method for analyzing motion data;
[0060] FIG. 10 is a flowchart of a method for setting parameters corresponding to an indication motion in advance; and
[0061] FIG. 11 is a flowchart of a method for implementing dynamic continuous ball serving.
[0062] Reference numerals:
[0063] 1: camera device; 2: control device; 3: ball feeding device; 4: ball serving device; 31: folding baffle plate; 32: turntable; 33: ball inlet; 34: fixing opening; 41: fixed seat; 42: bracket; 43: guide mechanism; 44: ball serving wheel; and 51: LED lighting array. DESCRIPTION OF EMBODIMENTS
[0064] The following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely some of the embodiments of the present disclosure rather than all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the disclosed embodiments without creative efforts shall fall within the protection scope of the present disclosure.
[0065] The terms used in the various embodiments of the present disclosure are merely for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present disclosure. As used herein, a singular form also includes a plural form, unless the context indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person of ordinary skill in the art to which the various embodiments of the present disclosure belong. The terms (such as those limited in commonly used dictionaries) will be interpreted as having the same contextual meaning as in the relevant technical field and will not be interpreted as having idealized or overly formal meanings unless clearly defined in the various embodiments of the present disclosure.
[0066] Embodiment 1
[0067] Referring to FIG. 1 to FIG. 7, this embodiment provides a tennis ball machine, including a camera device 1, a control device 2 connected to the camera device 1, and a ball feeding device 3 and a ball serving device 4 that are controlled by the control device 2. The ball serving device 4 is arranged on a ball delivery path of the ball feeding device 3.
[0068] The camera device 1 is configured to: photograph a user to obtain image data containing the user and transmit the image data to the control device 2, and the control device 2 determines the image data as first image data containing an indication motion or second image data not containing the indication motion.
[0069] The control device 2 is configured to: determine a ball feeding parameter based on the first image data and control the ball feeding device 3 to transfer tennis balls to the ball serving device 4 based on the ball feeding parameter, and / or determine a first ball serving parameter based on the first image data, and control the ball serving device 4 to eject tennis balls based on the first ball serving parameter.
[0070] The control device 2 is further configured to: determine the ball feeding parameter based on the second image data and control the ball feeding device 3 to transfer tennis balls to the ball serving device 4 based on the ball feeding parameter, and / or determine a second ball serving parameter based on the second image data, and control the ball serving device 4 to eject tennis balls based on the second ball serving parameter.
[0071] Specifically, the control device can determine whether the image data contains the indication motion and parameter data corresponding to the indication motion contained in the image data by reading a preset database. The preset database includes a plurality of sets of preset data containing indication motion data and parameter data. The control device can determine, based on the indication motion contained in the first image data, preset data to which the first image data belongs, and then determine the parameter data contained in the preset data as the ball feeding parameter and / or the first ball serving parameter. For example, when the indication motion is raising a hand, the control device can determine the first ball serving parameter based on the indication motion, thereby controlling the tennis ball machine to start to serve a ball or stop serving a ball.
[0072] When the image data does not contain the indication motion, the control device can determine the image data as the second image data. The control device can analyze the second image data to obtain an area of a playing field, a standing position of the user, and other information, thereby determining an appropriate ball feeding parameter and the second ball serving parameter. For example, the control device can identify a court region of an entire tennis court and a position of the user on the tennis court from the second image data, thereby determining, based on the identified information, the ball feeding parameter and the second ball serving parameter, and then adjusting a ball serving strategy.
[0073] In a specific embodiment, after the image data is determined as the first image data, the control device can comprehensively determine the ball feeding parameter and the first ball serving parameter by using the parameter data in the preset data and information in the first image data.
[0074] In this embodiment, the ball feeding parameter includes, but is not limited to, a quantity parameter and an interval time parameter. By determining the quantity parameter and the interval time parameter, the control device 2 can control a quantity of tennis balls that need to be transferred by the ball feeding device 3 to the ball serving device 4, and control interval time that the ball feeding device 3 transfers tennis balls to the ball serving device 4, so that the ball feeding device 3 can periodically transfer the tennis balls to the ball serving device 4.
[0075] The ball serving parameter includes, but is not limited to, a ball serving direction parameter, a ball serving angle parameter, and a ball serving speed parameter. By determining the ball serving direction parameter, the ball serving angle parameter, and the ball serving speed parameter, the control device 2 can adjust a ball serving direction, angle, and speed of the ball serving device 4 to achieve different ball serving modes, thereby simulating a real tennis training scenario.
[0076] A tennis ball ejection direction can be controlled based on the ball serving direction parameter, such as forehand, backhand, flat hit, or topspin. A tennis ball ejection angle can be controlled based on the ball serving angle parameter, such as level serving, cross-court serving, low balls, or high balls. A tennis ball ejection speed can be controlled based on the ball serving speed parameter, such as fast balls, slow balls, or medium-speed balls.
[0077] Specifically, the ball feeding device 3 includes a ball compartment, a turntable 32, and a first driving mechanism which is in driving connection to the turntable 32. In this embodiment, the ball feeding device 3 includes a plurality of sets of folding baffle plates. The ball compartment is formed by unfolding the folding baffle plates. The folding baffle plates can also be folded flatly and arranged in a mutual overlapping manner to reduce a space occupied by the tennis ball machine.
[0078] A ball inlet 33 is formed in a bottom side of the ball feeding device 3. The turntable 32 is rotatably arranged on a lower side of the ball compartment and an upper side of the ball inlet 33 and is provided with a plurality of fixing openings 34 for positioning tennis balls. The fixing openings 34 can be communicated with the ball inlet 33.
[0079] The first driving mechanism is connected to the control device 2, and is controlled, based on the ball feeding parameter, by the control device 2 to drive the turntable 32 to rotate. A diameter of each fixing opening 34 and a diameter of the ball inlet 33 in any direction is not less than a diameter of a tennis ball, so that when the turntable 32 rotates to a position at which one fixing opening 34 is communicated with the ball inlet 33, so that a tennis ball fixed at the ball inlet 33 can be transferred to the ball serving device 4 through the fixing opening 34 and the ball inlet 33.
[0080] Specifically, the ball serving device 4 includes a fixed seat 41, a bracket 42 movably connected to the fixed seat 41, a guide mechanism 43 movably connected to the bracket 42, a ball serving wheel 44 arranged at a ball serving end of the guide mechanism 43, a second driving mechanism which is in driving connection to the bracket 42, a third driving mechanism which is in driving connection to the guide mechanism 43, and a fourth driving mechanism which is in driving connection to the ball serving wheel 44. The guide mechanism 43 includes the ball serving end and a ball return end corresponding to the ball inlet 33. In this embodiment, the ball serving wheel 44 is formed by two rotating wheels. The two rotating wheels are respectively arranged on two sides of the ball serving end of the guide mechanism 43, and a gap for allowing a tennis ball to pass through is provided between the two rotating wheels.
[0081] The second driving mechanism is connected to the control device 2, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device 2 to drive the bracket 42 to rotate relative to the fixed seat 41, so as to adjust, based on the control performed by the control device 2 on the rotation of the bracket 42, a ball serving direction of a tennis ball ejected by the ball serving device 4.
[0082] The third driving mechanism is connected to the control device 2, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device 2 to drive the guide mechanism 43 to rotate relative to the bracket 42, and a direction of rotation of the bracket 42 driven by the second driving mechanism is perpendicular to a direction of rotation of the guide mechanism 43 driven by the third driving mechanism, so as to adjust, based on the control performed by the control device 2 on the rotation of the guide mechanism 43, a ball serving angle of a tennis ball ejected by the ball serving device 4. In this embodiment,
[0083] the fourth driving mechanism is connected to the control device 2, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device 2 to drive the ball serving wheel 44 to rotate, so as to adjust, based on the control performed by the control device 2 on the rotation of the ball serving wheel 44, a ball serving speed of a tennis ball ejected by the ball serving device 4.
[0084] Further, the tennis ball machine further includes a display device. A display direction of the display device is consistent with an image capturing direction of the camera device 1.
[0085] The control device 2 is further configured to: determine a display parameter based on the first image data and / or the second image data, and control the display device to be turned on, be turned off, or adjust a display manner based on the display parameter. Therefore, the tennis ball machine provided in this embodiment can generate corresponding instant feedback to the user through the display device, and the user can also turn on or turn off the display device through a remote instruction, or adjust the display manner of the display device through the remote instruction.
[0086] For example, when the user hits a tennis ball successfully, the control device 2 can control, based on the displayed display parameter, the display device to provide the user with information indicating next ball serving is about to be executed; and when the user fails to hit a tennis ball, the control device 2 can control, based on the displayed display parameter, the display device to provide the user with information of waiting for a next ball serving instruction. In this embodiment, the display device includes a light-emitting diode (LED) lighting array 51. The LED lighting array 51 is arranged on a folding baffle plate 31 connected to one side of the tennis ball machine provided with the camera device 1.
[0087] Preferably, the tennis ball machine provided in this embodiment may further include a voice device connected to the control device 2. The voice device is configured to: obtain speech data of the user and transmit the speech data to the control device 2, so that the control device 2 determines the ball feeding parameter based on the speech data and controls the ball feeding device 3 to transfer the tennis ball to the ball serving device 4 based on the ball feeding parameter;
[0088] and / or, the control device 2 determines a third ball serving parameter based on the speech data, and controls the ball serving device 4 to eject tennis balls based on the third ball serving parameter.
[0089] Correspondingly, the control device 2 can also determine the display parameter based on the speech data and control, based on the display parameter, the display device to be turned on, be turned off, adjust display brightness, or adjust the display manner.
[0090] Therefore, according to the tennis ball machine provided in this embodiment, the user can control the ball feeding parameter, the ball serving parameter, and the display parameter of the tennis ball machine through a voice command. In addition, in conjunction with control and use of image analysis, the operation on the tennis ball machine is more intelligent and personalized, thereby providing higher flexibility for tennis training, and achieving a more natural, intuitive, and diversified operation manner.
[0091] In a specific embodiment, the control device 2 can determine the ball feeding parameter based solely on the speech data and determine the ball serving parameter based solely on the image data.
[0092] Embodiment 2
[0093] This embodiment further provides a control method, applied to the tennis ball machine provided in Embodiment 1. Referring to FIG. 8, the method includes:
[0094] S100: Identify the image data transmitted by the camera device through the control device.
[0095] S200: If the image data contains an indication motion, determine the image data as the first image data, and cause the control device to determine the ball feeding parameter and / or the first ball serving parameter based on the first image data; and if the image data does not contain the indication motion, determine the image data as the second image data, and cause the control device to determine the ball feeding parameter and / or the second ball serving parameter based on the second image data.
[0096] S300: Cause the control device to control, based on the ball feeding parameter, the ball feeding device to transfer tennis balls to the ball serving device, and / or to control, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject tennis balls.
[0097] Specifically, step S300 of determining, by the control device, the ball feeding parameter and / or the first ball serving parameter based on the first image data is implemented based on a preset database. The preset database includes a plurality of sets of preset data containing indication motion data and parameter data. The control device can determine, based on the indication motion data contained in the first image data, preset data to which the indication motion data belongs, and thus determine the parameter data contained in the preset data as the ball feeding parameter and / or the first ball serving parameter.
[0098] It should be noted that the control device can simultaneously determine the ball feeding parameter and the first ball serving parameter based on the first image data, or simultaneously determine the ball feeding parameter and the second ball serving parameter based on the second image data. The ball feeding parameter and a ball serving parameter that are simultaneously determined have a priority relationship.
[0099] If a priority of the ball feeding parameter is higher than a priority of the ball serving parameter, the control device needs to determine whether a tennis ball to be ejected exists in the ball serving device. If no tennis ball to be ejected exists in the ball serving device, the control device can first control, based on the ball feeding parameter, the ball feeding device to transfer a tennis ball to the ball serving device, and then control, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject the tennis ball. If a tennis ball to be ejected exists in the ball serving device, the control device only needs to control, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject the tennis ball.
[00100] Correspondingly, if the priority of the ball feeding parameter is higher than the priority of the ball serving parameter, the control device also needs to determine whether a tennis ball to be ejected exists in the ball serving device. If no tennis ball to be ejected exists in the ball serving device, the control device can control the ball feeding device to transfer a tennis ball to the ball serving device, control, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject the tennis ball, and then control, based on the ball feeding parameter, the ball feeding device to transfer a tennis ball to the ball serving device. If a tennis ball to be ejected exists in the ball serving device, the control device can first control, based on the first serving parameter or the second ball serving parameter, the ball serving device to eject the tennis ball, and then control, based on the ball feeding parameter, the ball serving device to transfer a tennis ball to the ball serving device.
[00101] Specifically, the ball feeding parameter includes a quantity parameter and an interval time parameter. Step S300 of controlling, based on the ball feeding parameter, the ball feeding device to transfer tennis balls to the ball serving device includes:
[00102] controlling, through the control device based on the interval time parameter, the ball feeding device to periodically transfer the tennis balls to the ball serving device, until a quantity of tennis balls that have been already transferred by the ball feeding device meets a requirement of the quantity parameter.
[00103] The ball serving parameter includes a ball serving direction parameter, a ball serving angle parameter, and a ball serving speed parameter, and step S300 of controlling, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject tennis balls includes:
[00104] through the control device, controlling, based on the ball serving direction parameter, the bracket to rotate relative to the fixed seat, and controlling, based on the ball serving angle parameter, the guide mechanism to rotate relative to the bracket; and
[00105] controlling, through the control device, a rotating speed of the ball serving wheel based on the ball serving speed parameter, to cause the tennis balls to be ejected from the ball serving device through the ball serving wheel.
[00106] The direction of rotation of the bracket controlled by the control device relative to the fixed seat is perpendicular to the direction of rotation of the guide mechanism controlled by the control device relative to the bracket. In this embodiment, the direction of rotation of the bracket controlled by the control device relative to the fixed seat is parallel to the horizontal plane, and the direction of rotation of the guide mechanism controlled by the control device relative to the bracket is perpendicular to the horizontal plane, so as to adjust the ball serving direction through the rotation of the bracket and adjust the ball serving angle through the rotation of the guide mechanism.
[00107] In a specific embodiment, the control device controls the bracket to rotate relative to the fixed seat by an angle range of -45° to 45°, and a range of an angle between the direction of rotation of the guide mechanism controlled by the control device relative to the bracket and the horizontal plane is 5° to 55°.
[00108] Preferably, referring to FIG. 9, the method further includes:
[00109] S400: Record the ball serving parameter determined by the control device, and after the control device controls, based on the ball serving parameter, the ball serving device to eject the tennis balls, control the camera device to photograph a user to record feedback image data containing the user, and generate a set of motion data based on the ball serving parameter and the feedback image data.
[00110] S500: Cause the control device to analyze the motion data in a preset manner, and display an analysis result to the user.
[00111] Therefore, the method provided in this embodiment can provide more accurate motion analysis by combining ball serving data with the performance of the user in current ball serving, and correspondingly generate the motion data to help the user correct the hitting motion and make quantitative improvements. The ball serving data can include, but is not limited to, ball serving angle data, ball serving height data, and ball serving speed data.
[00112] Based on this, this method can also provide a communication module in the tennis ball machine, to communicate with a remote terminal through the communication module and transmit the motion data and the analysis result to the terminal for the user to directly view the data through the terminal. In addition, in conjunction with a plurality of sets of motion data, a sports summary and a personalized training plan can be generated for the user, so as to help the user clearly understand the strengths and weaknesses of the user and conduct more targeted training. The training plan can contain a plurality of sets of ball serving parameters suitable for being used by the user, so that the user can conduct corresponding settings.
[00113] Further, referring to FIG. 10, the method further includes:
[00114] S600: Cause the control device to generate, in response to an input instruction including the ball feeding parameter and / or the first ball serving parameter, parameter data based on the input instruction, and control the camera device to photograph the user to obtain set image data containing the user.
[00115] S700: Identify a user motion contained in the set image data to generate the indication motion data, determine whether preset data containing the indication motion data exists in the preset database, and delete the preset data from the preset database if the preset data exists.
[00116] S800: Generate a set of preset data based on the indication motion data and the parameter data, and store the set of preset data into the preset database.
[00117] Through step S600 to step S800, according to the control method provided in this embodiment, the user can adjust parameters corresponding to indication motions on own, and parameter data of interaction with the user is generated, stored, and managed in the tennis ball machine, thereby providing a data support for a subsequent control operation of a user motion identification control device, meeting a personalized need of the user, and ensuring intelligence and adaptability of the tennis ball machine.
[00118] Further, referring to FIG. 11, the method further includes:
[00119] S210: If the control device determines the image data as the second image data, determine the second ball serving parameter and the ball feeding parameter based on the second image data.
[00120] S310: Cause the control device to control, based on the second ball serving parameter, the ball serving device to eject the tennis balls and then control, based on the ball feeding parameter, the ball feeding device to transfer the tennis balls to the ball serving device.
[00121] As mentioned earlier, before step S310 is executed, the method provided in this embodiment can confirm in advance whether the tennis ball to be ejected exists in the ball serving device. In addition, when no tennis ball to be ejected exists in the ball serving device, the control device can control the ball feeding device to transfer a tennis ball to the ball serving device, so that after a tennis ball to be ejected exists in the ball serving device, step S310 is correspondingly executed.
[00122] S320: Control, through the control device, the camera device to photograph the user to obtain image data containing a hitting motion of the user as new second image data, and analyze, based on the second image data, whether the user hits a tennis ball successfully.
[00123] Specifically, when the user successfully uses a racket to hit a tennis ball and a location at which the hit tennis ball is in contact with the ground for the first time is located in a region within a boundary of a court close to the tennis ball machine, it is determined that the user hits the tennis ball successfully. When the user fails to use the racket to hit a tennis ball, or when a location at which the hit tennis ball is in contact with the ground for the first time is not located in the region within the boundary of the court close to the tennis ball machine, that is, in a case that the tennis ball lands in bounds or out of bounds, it is determined that the user fails to hit the tennis ball.
[00124] If it is analyzed in step S320 based on the second image data that the user hits the ball successfully, step S330 is executed.
[00125] S330: Repeat execution of the step of "determining the second ball serving parameter and the ball feeding parameter based on the second image data", until the user misses a tennis ball or the ball serving device has ejected a preset quantity of tennis balls.
[00126] It should be noted that after the control device first determines the image data as the first image data, step S320 can also be correspondingly executed after the ball serving device ejects a tennis ball and the ball feeding device transfers a tennis ball to the ball serving device.
[00127] Through step S210 to step S330, the control method provided in this embodiment can continuously monitor hitting motions of the user based on real-time analysis on the image data, so as to continuously perform ball feeding and ball serving, and dynamically adjust the ball serving parameter in this process, thereby achieving an effect of simulating actual tennis rallies, ensuring that there are more efficient interactions and feedback during training, meeting training needs of users, and enhancing a user experience.
[00128] In summary, the present disclosure provides the tennis ball machine and the control method therefor. The solution provided in the present disclosure can accurately determine a motion of a user by capturing the image data of the user in real time through the camera device, and the control device intelligently determines the ball feeding parameter and the ball serving parameter based on different image data, to make intelligent adjustment based on a real-time requirement of the user, thereby enhancing interactivity and personalization of use of the tennis ball machine for training. The solution can effectively enhance training efficiency and quality and greatly optimize a training effect and a user experience.
[00129] The above describes the preferred embodiments of the present disclosure and is not intended to limit the present disclosure. Any modification, equivalent replacement, and 5 improvement made within the spirit and scope of the present disclosure shall fall within the protection scope of the present disclosure.
Claims
1. A tennis ball machine, comprising a camera device, a control device connected to the camera device, and a ball feeding device and a ball serving device that are controlled by the control device, wherein the ball serving device is arranged on a ball delivery path of the ball feeding device;the camera device is configured to: photograph a user to obtain image data containing the user and transmit the image data to the control device, and the control device determines the image data as first image data containing an indication motion or second image data not containing the indication motion;the control device is configured to: determine a ball feeding parameter based on the first image data and control the ball feeding device to transfer tennis balls to the ball serving device based on the ball feeding parameter, and / or determine a first ball serving parameter based on the first image data, and control the ball serving device to eject tennis balls based on the first ball serving parameter; andthe control device is further configured to: determine the ball feeding parameter based on the second image data and control the ball feeding device to transfer tennis balls to the ball serving device based on the ball feeding parameter, and / or determine a second ball serving parameter based on the second image data, and control the ball serving device to eject tennis balls based on the second ball serving parameter.
2. The tennis ball machine according to claim 1, wherein the ball feeding device comprises a turntable and a first driving mechanism connected to the turntable;a ball inlet is formed in a bottom side of the ball feeding device; the turntable is rotatably arranged on an upper side of the ball inlet and is provided with a plurality of fixing openings for positioning tennis balls; the fixing openings are communicated with the ball inlet;the first driving mechanism is connected to the control device, and is controlled, based on the ball feeding parameter, by the control device to drive the turntable to rotate, so that onefixing opening is communicated with the ball inlet and a tennis ball at the fixing opening is transferred to the ball serving device through the fixing opening and the ball inlet.
3. The tennis ball machine according to claim 1, wherein the ball serving device comprises a fixed seat, a bracket movably connected to the fixed seat, a guide mechanism movably connected to the bracket, a ball serving wheel arranged at a ball serving end of the guide mechanism, a second driving mechanism which is in driving connection to the bracket, a third driving mechanism which is in driving connection to the guide mechanism, and a fourth driving mechanism which is in driving connection to the ball serving wheel;the second driving mechanism is connected to the control device, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device to drive the bracket to rotate relative to the fixed seat;the third driving mechanism is connected to the control device, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device to drive the guide mechanism to rotate relative to the bracket, and a direction of rotation of the bracket driven by the second driving mechanism is perpendicular to a direction of rotation of the guide mechanism driven by the third driving mechanism; andthe fourth driving mechanism is connected to the control device, and is controlled, based on the first ball serving parameter or the second ball serving parameter, by the control device to drive the ball serving wheel to rotate.
4. The tennis ball machine according to claim 1, further comprising a display device, wherein a display direction of the display device is consistent with an image capturing direction of the camera device;the control device is further configured to: determine a display parameter based on the first image data and / or the second image data, and control the display device to be turned on, be turned off, or adjust a display manner based on the display parameter.
5. The tennis ball machine according to any one of claims 1 to 4, further comprising a voice device connected to the control device, whereinthe voice device is configured to: obtain speech data of the user and transmit the speech data to the control device, so that the control device determines the ball feeding parameterbased on the speech data and controls the ball feeding device to transfer the tennis balls to the ball serving device based on the ball feeding parameter;and / or, the control device determines a third ball serving parameter based on the speech data, and controls the ball serving device to eject tennis balls based on the third ball serving parameter.
6. A control method, applied to the tennis ball machine according to any one of claims 1 to 5, wherein the method comprises:identifying the image data transmitted by the camera device through the control device;if the image data contains an indication motion, determining the image data as the first image data, and causing the control device to determine the ball feeding parameter and / or the first ball serving parameter based on the first image data; if the image data does not contain the indication motion, determining the image data as the second image data, and causing the control device to determine the ball feeding parameter and / or the second ball serving parameter based on the second image data; andcausing the control device to control, based on the ball feeding parameter, the ball feeding device to transfer tennis balls to the ball serving device, and / or to control, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject tennis balls.
7. The control method according to claim 6, wherein the ball feeding parameter comprises a quantity parameter and an interval time parameter; and the controlling, based on the ball feeding parameter, the ball feeding device to transfer tennis balls to the ball serving device comprises:controlling, through the control device based on the interval time parameter, the ball feeding device to periodically transfer the tennis balls to the ball serving device, until a quantity of tennis balls that have been already transferred by the ball feeding device meets a requirement of the quantity parameter;the ball serving device comprises a fixed seat, a bracket rotatably connected to the fixed seat, a guide mechanism rotatably connected to the bracket, and a ball serving wheel arranged at a ball serving end of the guide mechanism; a direction of rotation of the bracket relative to the fixed seat is parallel to a horizontal plane, and a direction of rotation of the guidemechanism relative to the bracket is perpendicular to the horizontal plane; the ball serving parameter comprises a ball serving direction parameter, a ball serving angle parameter, and a ball serving speed parameter; and the controlling, based on the first ball serving parameter or the second ball serving parameter, the ball serving device to eject tennis balls comprises:through the control device, controlling, based on the ball serving direction parameter, the bracket to rotate relative to the fixed seat, and controlling, based on the ball serving angle parameter, the guide mechanism to rotate relative to the bracket; andcontrolling, through the control device, a rotating speed of the ball serving wheel based on the ball serving speed parameter, to cause the tennis balls to be ejected from the ball serving device through the ball serving wheel.
8. The method according to claim 6 or 7, wherein the method further comprises:recording the ball serving parameter determined by the control device, and after the control device controls, based on the ball serving parameter, the ball serving device to eject the tennis balls, controlling the camera device to photograph a user to record feedback image data containing the user, and generating a set of motion data based on the ball serving parameter and the feedback image data; andcausing the control device to analyze the motion data in a preset manner, and displaying an analysis result to the user.
9. The control method according to claim 6 or 7, wherein the "causing the control device to determine the ball feeding parameter and / or the first ball serving parameter based on the first image data" is implemented based on a preset database, and the preset database comprises a plurality of sets of preset data containing indication motion data and parameter data; and the method further comprises:causing the control device to generate, in response to an input instruction comprising the ball feeding parameter and / or the first ball serving parameter, parameter data based on the input instruction, and control the camera device to photograph the user to obtain set image data containing the user;identifying a user motion contained in the set image data to generate the indication motion data, determining whether preset data containing the indication motion data exists inthe preset database, and deleting the preset data from the preset database if the preset data exists; andgenerating a set of preset data based on the indication motion data and the parameter data, and storing the set of preset data into the preset database.5 10. The method according to claim 6 or 7, wherein the method further comprises:if the control device determines the image data as the second image data, determining the second ball serving parameter and the ball feeding parameter based on the second image data;causing the control device to control, based on the second ball serving parameter, the ball serving device to eject the tennis balls and then control, based on the ball feeding parameter, 10 the ball feeding device to transfer the tennis balls to the ball serving device;controlling, through the control device, the camera device to photograph the user to obtain image data containing a hitting motion of the user as new second image data, and analyzing, based on the second image data, whether the user hits a tennis ball successfully; and15 if the user hits the tennis ball successfully, repeating execution of the step of "determining the second ball serving parameter and the ball feeding parameter based on the second image data", until the user fails to hit a tennis ball or the ball serving device has ejected a preset quantity of tennis balls.