Tennis machine and control method thereof

Abstract

The invention provides a tennis machine and a control method thereof.The tennis machine comprises a camera device, a control device, a goal device and a serving device, the tennis machine captures image data of a user in real time through the camera device and transmits the image data to the control device, so that the control device classifies the image data based on indication action information, and sends the classified image data to the control device; and further determining scoring parameters for controlling the scoring device to transmit the tennis balls and serving parameters for controlling the serving device to serve the tennis balls according to the image data. According to the scheme provided by the invention, the image data of the user can be captured in real time through the camera device, the action of the user can be accurately judged, and the goal parameter and the serving parameter are intelligently determined by the control device according to different image data, so that intelligent adjustment is performed based on the real-time demand of the user; the interactivity and personalization of training by using the tennis machine are improved, the training efficiency and quality can be effectively improved, and the training effect and the use experience of the user are greatly optimized.

Description

Technical Field

[0001] The invention belongs to the technical field of tennis machines, and in particular relates to a tennis machine and a control method thereof. Background Art

[0002] With the popularity of tennis, more and more professional athletes and tennis enthusiasts have begun to use tennis machines for training to improve their skills. As a widely used device for tennis training, tennis machines can automatically serve the ball according to the user's settings, allowing users to perform stable ball receiving training.

[0003] However, traditional tennis machines rely on their preset serving methods. Although they can provide basic training functions, they are limited by their own programs and the training modes they can provide are relatively fixed and rigid. They cannot adapt to users of different levels and different needs, resulting in users' training being often limited.

[0004] In response to the above problems, some tennis machines have the function of adjusting the serving speed, rotation angle and landing point to a certain extent, but these functions also need to rely on pre-set parameters to be implemented, and cannot be connected with the real-time needs of users during training. Moreover, for some users, making the tennis machine achieve a specific serving method requires corresponding adjustments in multiple dimensions, but this debugging process is time-consuming and laborious, and cannot ensure that the user's expected effect can be achieved, which is likely to affect the user's experience. Summary of the invention

[0005] In order to overcome the defects of the prior art, the present invention proposes a tennis machine, comprising a camera device and a control device connected to the camera device, and a goal-scoring device and a serving device controlled by the control device, wherein the serving device is arranged on the ball delivery path of the goal-scoring device;

[0006] The camera device is used to capture a user to obtain image data containing the user and send the image data to the control device, and the control device determines the image data as first image data containing an indication action or second image data not containing an indication action;

[0007] The control device is used to determine a goal parameter based on the first image data, and control the goal device to transfer the tennis ball to the serving device based on the goal parameter, and / or determine a first serving parameter based on the first image data, and control the serving device to launch the tennis ball based on the first serving parameter;

[0008] The control device is also used to determine the goal parameters based on the second image data, and control the goal device to transfer the tennis ball to the serving device based on the goal parameters, and / or determine second serving parameters based on the second image data, and control the serving device to launch the tennis ball based on the second serving parameters.

[0009] Specifically, the goal-scoring device includes a turntable and a first driving mechanism drivingly connected to the turntable;

[0010] The bottom side of the goal-scoring device is provided with a goal-scoring opening, the turntable is rotatably arranged on the upper side of the goal-scoring opening and is provided with a plurality of fixing openings for positioning tennis balls, and the fixing openings can be communicated with the goal-scoring opening;

[0011] The first driving mechanism is connected to the control device, and the control device drives the turntable to rotate based on the control of the goal parameters, so that a fixed port is connected to the goal port and the tennis ball on the fixed port is transferred to the serving device through the fixed port and the goal port.

[0012] Specifically, the serving device includes a fixed seat, a bracket movably connected to the fixed seat, a guide mechanism movably connected to the bracket, and a serving wheel arranged at the serving end of the guide mechanism, as well as a second driving mechanism drivingly connected to the bracket, a third driving mechanism drivingly connected to the guide mechanism, and a fourth driving mechanism drivingly connected to the serving wheel;

[0013] The second driving mechanism is connected to the control device, and the control device drives the bracket to rotate relative to the fixing seat based on the control of the first serving parameter or the second serving parameter;

[0014] The third driving mechanism is connected to the control device, and the control device drives the guide mechanism to rotate relative to the bracket based on the control of the first serving parameter or the second serving parameter, and the direction in which the bracket is driven to rotate by the second driving mechanism is perpendicular to the direction in which the guide mechanism is driven to rotate by the third driving mechanism;

[0015] The fourth driving mechanism is connected to the control device, and the control device drives the rotation of the serving wheel based on the control of the first serving parameter or the second serving parameter.

[0016] Furthermore, the tennis machine further comprises a display device, and a display direction of the display device is consistent with a shooting direction of the camera device;

[0017] The control device is further configured to determine display parameters based on the first image data and / or the second image data, and control the display device to turn on, turn off or adjust a display mode based on the display parameters.

[0018] Preferably, the tennis machine further comprises a voice device connected to the control device;

[0019] The voice device is used to obtain the voice data of the user and send it to the control device, so that the control device determines the goal parameter based on the voice data, and controls the goal device to pass the tennis ball to the serving device based on the goal parameter;

[0020] And / or, the control device determines a third serving parameter based on the voice data, and controls the serving device to launch the tennis ball based on the third serving parameter.

[0021] The present invention also proposes a control method, which is applied to the tennis machine as described above, and the method comprises:

[0022] recognizing the image data transmitted by the camera device through the control device;

[0023] If the image data includes an indication action, the image data is determined as first image data, and the control device determines the goal parameter and / or the first serve parameter based on the first image data; if the image data does not include an indication action, the image data is determined as second image data, and the control device determines the goal parameter and / or the second serve parameter based on the second image data;

[0024] The control device controls the goal-scoring device to transfer the tennis ball to the serving device according to the goal-scoring parameter, and / or controls the serving device to launch the tennis ball according to the first serving parameter or the second serving parameter.

[0025] Specifically, the goal parameters include a quantity parameter and an interval time parameter, and the goal parameters are used to control the goal device to transfer the tennis ball to the serving device, including:

[0026] The control device controls the goal-scoring device to periodically deliver tennis balls to the serving device based on the interval time parameter until the number of tennis balls delivered by the goal-scoring device meets the requirement of the number parameter;

[0027] The serving device comprises a fixed seat, a bracket rotatably connected to the fixed seat, a guide mechanism rotatably connected to the bracket, and a serving wheel arranged at a serving end of the guide mechanism, wherein the rotation direction of the bracket relative to the fixed seat is parallel to a horizontal plane, and the rotation direction of the guide mechanism relative to the bracket is perpendicular to a horizontal plane, and the serving parameters comprise a serving direction parameter, a serving angle parameter, and a serving speed parameter. The serving device is controlled to launch a tennis ball by using the first serving parameter or the second serving parameter, and comprises:

[0028] The control device controls the support to rotate relative to the fixed seat based on the serving direction parameter, and controls the guide mechanism to rotate relative to the support based on the serving angle parameter;

[0029] The control device controls the rotation speed of the serving wheel based on the serving speed parameter so that the tennis ball is launched from the serving device through the serving wheel.

[0030] Preferably, the method further comprises:

[0031] Recording the serving parameters determined by the control device, and after the control device controls the serving device to launch the tennis ball according to the serving parameters, controlling the camera device to capture the user to record feedback image data containing the user, so as to generate a set of motion data based on the serving parameters and the feedback image data;

[0032] The control device analyzes the motion data in a preset manner to display the analysis results to the user.

[0033] Further, “the control device determines the goal parameter and / or the first serve parameter based on the first image data” is implemented based on a preset database, the preset database includes several groups of preset data including indicative action data and parameter data, and the method further includes:

[0034] The control device generates parameter data based on the input instruction in response to the input instruction including the goal parameter and / or the first serve parameter, and controls the camera device to capture the user to obtain set image data including the user;

[0035] identifying a user action included in the setting image data to generate indication action data, and determining whether preset data including the indication action data already exists in the preset database, so as to delete the preset data from the preset database if it exists;

[0036] A set of preset data is generated based on the indicated action data and the parameter data and stored in the preset database.

[0037] Furthermore, the method further comprises:

[0038] If the control device determines the image data as second image data, determining the second serving parameter and the goal parameter based on the second image data;

[0039] The control device controls the serving device to launch the tennis ball according to the second serving parameter, and then controls the goal-scoring device to pass the tennis ball to the serving device according to the goal-scoring parameter;

[0040] Controlling the camera device to capture the user through the control device to obtain image data containing the user's hitting action as new second image data, and analyzing whether the user's hitting action is successful based on the second image data;

[0041] If the user successfully hits the ball, the step of "determining the second serving parameter and goal parameter based on the second image data" is repeated until the user fails to hit the ball or the serving device has launched a preset number of tennis balls.

[0042] The present invention has at least the following beneficial effects:

[0043] The tennis machine proposed by the present invention captures the user's movements through a camera device and analyzes image data. The control device can judge the user's movement performance in real time and generate appropriate tennis machine parameters according to the image data, so that the serve and goal can be adjusted according to the user's indicated movement characteristics, effectively improving the efficiency and pertinence of training, helping the user to independently carry out efficient personalized training, and the user can get more appropriate feedback during training;

[0044] Furthermore, the design of the multiple fixed openings on the turntable of the goal-scoring device in the tennis machine proposed by the present invention being connected to the goal-scoring opening enables the device to rotate and adjust according to the command of the control device, and then accurately deliver the tennis ball to the serving device through the cooperation of the control device, the first drive mechanism and the turntable; the serving device can accurately control the serving angle, speed and direction of the tennis ball in multiple dimensions through the coordinated action of the multiple movable mechanisms and their corresponding drive mechanisms, thereby improving the diversity of the serving methods of the tennis machine and facilitating the simulation of a situation closer to the real serve;

[0045] By setting a display device in conjunction with the camera device, the tennis machine can generate corresponding information feedback to the user, and the voice recognition function realized by the voice device enables the user to adjust the goal parameters and serve parameters through voice commands, further enhancing the interactivity and flexibility of the tennis machine;

[0046] Correspondingly, the control method of the adaptive tennis machine proposed in the present invention can intelligently adjust the parameters of goal and serve based on real-time capture of the user's actions and generating feedback. By combining the serve parameters and the corresponding user's action feedback image data and performing analysis and feedback, the user can improve his or her action skills accordingly, improve the efficiency and effect of training, and correct wrong actions in time.

[0047] The user can adjust the parameters corresponding to each indicated action by himself, and the tennis machine generates, stores and manages parameter data for interaction with the user, which provides data support for the control operation of the subsequent user action recognition control device, meets the personalized needs of the user, and ensures the intelligence and adaptability of the tennis machine; the method can also monitor the user's hitting based on real-time analysis of image data, so as to continuously execute scoring and serving, and can dynamically adjust the serving parameters in the process, thereby achieving the effect of simulating actual fighting, ensuring that the training has more efficient interaction and feedback.

[0048] Therefore, the present invention proposes a tennis machine and a control method thereof. The scheme proposed by the present invention can capture the user's image data in real time through a camera device, can accurately judge the user's actions, and enable the control device to intelligently determine the goal parameters and the serve parameters according to different image data, thereby making intelligent adjustments based on the user's real-time needs, thereby improving the interactivity and personalization of training using the tennis machine, can effectively improve the training efficiency and quality, and greatly optimize the training effect and the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A schematic diagram of the overall structure of the tennis ball machine provided in Example 1;

[0051] Figure 2 It is a schematic diagram of the structure of a tennis machine with part of the shell removed;

[0052] Figure 3 is a schematic diagram of the structure of a goal-scoring device;

[0053] Figure 4 This is a schematic diagram of the structure of the goal-scoring device after removing the baffle;

[0054] Figure 5 It is a schematic diagram of the bottom structure of the goal-scoring device;

[0055] Figure 6 It is a structural schematic diagram of a serving device;

[0056] Figure 7 is another structural schematic diagram of the serving device;

[0057] Figure 8 A schematic diagram of a method flow of a control method provided in Example 2;

[0058] Fig. 9 A schematic diagram of a method flow for analyzing motion data;

[0059] Fig.10 A flow chart of a method for presetting parameters corresponding to an indication action;

[0060] Fig.11 A flow chart of a method for realizing dynamic continuous serving.

[0061] Reference numerals

[0062] 1-camera device; 2-control device; 3-goal device; 4-serving device; 31-folding baffle; 32-turntable; 33-goal opening; 34-fixing opening; 41-fixing seat; 42-bracket; 43-guide mechanism; 44-serving wheel; 51-LED light array. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] Hereinafter, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but the present invention should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0065] Hereinafter, the term "include" or "may include" used in various embodiments of the present invention indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0066] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0067] The expressions (such as "first", "second", etc.) used in various embodiments of the present invention may modify the various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0068] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0070] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0071] Example 1

[0072] See also Figure 1-Figure 7 This embodiment provides a tennis machine, including a camera device 1 and a control device 2 connected to the camera device 1, and a goal-scoring device 3 and a serving device 4 controlled by the control device 2, wherein the serving device 4 is arranged on the ball delivery path of the goal-scoring device 3;

[0073] The camera device 1 is used to capture a user to obtain image data containing the user and send it to the control device 2, and the control device 2 determines the image data as first image data containing an indication action or second image data not containing an indication action;

[0074] The control device 2 is used to determine a goal parameter based on the first image data, and control the goal device 3 to transfer the tennis ball to the serving device 4 based on the goal parameter, and / or determine a first serving parameter based on the first image data, and control the serving device 4 to launch the tennis ball based on the first serving parameter;

[0075] The control device 2 is further configured to determine goal parameters based on the second image data, and control the goal device 3 to transfer the tennis ball to the serving device 4 based on the goal parameters, and / or determine second serving parameters based on the second image data, and control the serving device 4 to launch the tennis ball based on the second serving parameters.

[0076] Specifically, the control device will determine whether the image data contains an indication action and parameter data corresponding to the indication action contained in the image data by reading a preset database. The preset database includes several groups of preset data containing indication action data and parameter data. The control device can determine the preset data to which the indication action belongs through the indication action contained in the first image data, thereby determining the parameter data contained in the preset data as the goal parameter and / or the first serving parameter; exemplarily, when the indication action is raising a hand, the control device can determine the first serving parameter based on the indication action, thereby controlling the tennis machine to start serving or stop serving.

[0077] When the image data does not contain the indicated action, the control device will identify the image data as the second image data, and the control device can analyze the area of ​​the venue, the user's position and other information from the second image data, so as to determine the appropriate goal parameters and the second serve parameters. For example, the control device can identify the venue area of ​​the entire tennis court and the user's position on the tennis court from the second image data, so as to determine the goal parameters and the second serve parameters based on the identified information, thereby adjusting the serve strategy;

[0078] In a specific embodiment, after the image data is confirmed as the first image data, the control device will determine the goal parameter and the first serve parameter by combining the parameter data in the preset data and the information in the first image data.

[0079] In this embodiment, the goal parameters include but are not limited to the number parameter and the interval time parameter. By determining the number parameter and the interval time parameter, the control device 2 can control the number of tennis balls that the goal device 3 needs to pass to the serving device 4, and control the interval time of the number of tennis balls that the goal device 3 needs to pass to the serving device 4, so that the goal device 3 can periodically pass the tennis balls to the serving device 4.

[0080] The serving parameters include but are not limited to serving direction parameters, serving angle parameters and serving speed parameters. By determining the serving direction parameters, serving angle parameters and serving speed parameters, the control device 2 can adjust the serving direction, angle and speed of the serving device 4 to achieve different serving modes, thereby simulating a real tennis training scenario;

[0081] Among them, the direction of the tennis ball can be controlled by the serve direction parameter, such as forehand, backhand, flat shot or topspin; the launch angle of the tennis ball can be controlled by the serve angle parameter, such as horizontal serve, diagonal serve, low ball or high ball; the speed of the tennis ball can be controlled by the serve speed parameter, such as fast ball, slow ball or medium speed ball.

[0082] Specifically, the goal-scoring device 3 includes a ball bin, a turntable 32, and a first driving mechanism drivingly connected to the turntable 32. In this embodiment, the goal-scoring device 3 includes a plurality of groups of folding baffles, and the ball bin is formed by unfolding the folding baffles. The folding baffles can also be folded flat and arranged in an overlapping manner to reduce the space occupied by the tennis machine.

[0083] The bottom side of the goal-scoring device 3 is provided with a goal-scoring opening 33, and a turntable 32 is rotatably arranged at the bottom side of the ball bin and the top side of the goal-scoring opening 33. The turntable 32 is provided with a plurality of fixed openings 34 for positioning tennis balls, and the fixed openings 34 can be communicated with the goal-scoring opening 33;

[0084] The first driving mechanism is connected to the control device 2, and the control device 2 drives the turntable 32 to rotate based on the control of the goal parameters. The diameter of the fixed port 34 and the goal port 33 in any direction is not less than the diameter of the tennis ball, so that when the turntable 32 rotates to a position where the fixed port 34 and the goal port 33 are connected, the tennis ball fixed on the goal port 33 can be transferred to the serving device 4 through the fixed port 34 and the goal port 33.

[0085] Specifically, the 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, and a serving wheel 44 arranged at the serving end of the guide mechanism 43, as well as a second driving mechanism drivingly connected to the bracket 42, a third driving mechanism drivingly connected to the guide mechanism 43, and a fourth driving mechanism drivingly connected to the serving wheel 44. The guide mechanism 43 includes a serving end and a receiving end corresponding to the goal opening 33. In this embodiment, the serving wheel 44 is composed of two rotating wheels, which are respectively arranged on both sides of the serving end of the guide mechanism 43 and have a gap between the two rotating wheels to allow a tennis ball to pass through.

[0086] The second driving mechanism is connected to the control device 2, and the control device 2 drives the bracket 42 to rotate relative to the fixed seat 41 based on the control of the first serving parameter or the second serving parameter, so as to adjust the serving direction of the tennis ball launched by the serving device 4 based on the rotation control of the bracket 42 by the control device 2;

[0087] The third driving mechanism is connected to the control device 2, and the control device 2 drives the guide mechanism 43 to rotate relative to the bracket 42 based on the control of the first serving parameter or the second serving parameter. The direction in which the second driving mechanism drives the bracket 42 to rotate is perpendicular to the direction in which the third driving mechanism drives the guide mechanism 43 to rotate, so as to adjust the serving angle of the tennis ball launched by the serving device 4 based on the rotation control of the guide mechanism 43 by the control device 2; in this embodiment,

[0088] The fourth driving mechanism is connected to the control device 2, and the control device 2 drives the rotation of the serving wheel 44 based on the control of the first serving parameter or the second serving parameter, so as to adjust the serving speed of the tennis ball launched by the serving device 4 based on the rotation control of the serving wheel 44 by the control device 2.

[0089] Furthermore, the tennis machine also includes a display device, and the display direction of the display device is consistent with the shooting direction of the camera device 1;

[0090] The control device 2 is further used to determine display parameters based on the first image data and / or the second image data, and control the display device to adjust the display mode based on the display parameters. Thus, the tennis 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 off the display device or adjust the display mode of the display device through remote commands;

[0091] Exemplarily, when the user hits the ball successfully, the control device 2 can control the display device based on the determined display parameters to feedback to the user the information that the next serve is about to be executed, and when the user hits the ball unsuccessfully, the control device 2 can control the display device based on the determined display parameters to feedback to the user the information that the next serve instruction is waiting; in this embodiment, the display device includes an LED light array 51, and the LED light array 51 is arranged on a folding baffle 31 connected to a side of the tennis machine where the camera device 1 is arranged.

[0092] Preferably, the tennis machine proposed in this embodiment may further include a voice device connected to the control device 2; the voice device is used to obtain the user's voice data and send it to the control device 2, so that the control device 2 determines the goal parameters based on the voice data, and controls the goal device 3 to pass the tennis ball to the serving device 4 based on the goal parameters;

[0093] and / or, causing the control device 2 to determine a third serving parameter based on the voice data, and controlling the serving device 4 to launch the tennis ball based on the third serving parameter;

[0094] Correspondingly, the control device 2 can also determine display parameters based on the voice data, and control the display device to turn on, turn off, adjust the display brightness or adjust the display mode based on the display parameters.

[0095] Therefore, the tennis machine proposed in this embodiment allows the user to control the goal parameters, serve parameters and display parameters of the tennis machine through voice commands, and can be used in combination with image analysis control, making the operation of the tennis machine more intelligent and personalized, providing more flexibility for tennis training, thereby achieving a more natural, intuitive and diversified operation mode;

[0096] In a specific embodiment, the control device 2 can determine the goal parameters based only on the voice data, and determine the serve parameters based only on the image data.

[0097] Example 2

[0098] This embodiment proposes a control method, which is applied to the tennis machine proposed in embodiment 1. Figure 8 , the method comprising:

[0099] S100: The control device recognizes the image data transmitted by the camera device.

[0100] S200: If the image data includes an indication action, the image data is determined as first image data, and the control device determines goal parameters and / or first serve parameters based on the first image data; if the image data does not include an indication action, the image data is determined as second image data, and the control device determines goal parameters and / or second serve parameters based on the second image data.

[0101] S300: The control device controls the goal-scoring device to transfer the tennis ball to the serving device according to the goal-scoring parameter, and / or controls the serving device to launch the tennis ball according to the first serving parameter or the second serving parameter.

[0102] Specifically, in step S300, the control device determines the goal parameter and / or the first serve parameter based on the first image data” is implemented based on a preset database, and the preset database includes a plurality of groups of preset data including indicative action data and parameter data. The control device can determine the preset data to which the indicative action data belongs through the indicative action data included in the first image data, thereby determining the parameter data included in the preset data as the goal parameter and / or the first serve parameter;

[0103] It should be noted that the control device can simultaneously determine the goal parameter and the first serve parameter based on the first image data, or simultaneously determine the goal parameter and the second serve parameter based on the second image data, wherein the goal parameter and the serve parameter determined simultaneously have a priority relationship;

[0104] If the goal parameter has a higher priority than the serve parameter, the control device needs to determine whether there is a tennis ball to be launched in the serve device. If there is no tennis ball to be launched in the serve device, the control device will first control the goal device to transfer the tennis ball to the serve device through the goal parameter, and then control the serve device to launch the tennis ball through the first serve parameter or the second serve parameter. If there is a tennis ball to be launched in the serve device, the control device only needs to control the serve device to launch the tennis ball through the first serve parameter or the second serve parameter.

[0105] Correspondingly, if the priority of the goal parameter is higher than the serving parameter, the control device also needs to determine whether there is a tennis ball to be launched in the serving device. If there is no tennis ball to be launched in the serving device, the control device will control the transfer of a tennis ball to the serving device through the goal device, and control the serving device to launch the tennis ball through the first serving parameter or the second serving parameter, and then control the goal device to transfer the tennis ball to the serving device through the goal parameter; if there is a tennis ball to be launched in the serving device, the control device will first control the serving device to launch the tennis ball through the first serving parameter or the second serving parameter, and then control the goal device to transfer the tennis ball to the serving device through the goal parameter.

[0106] Specifically, the goal parameters include a quantity parameter and an interval time parameter. The step S300 described in controlling the goal device to transfer the tennis ball to the serving device by using the goal parameters includes:

[0107] The control device controls the goal-scoring device to periodically transfer tennis balls to the serving device based on the interval time parameter until the number of tennis balls transferred by the goal-scoring device meets the requirement of the number parameter.

[0108] The serving parameters include a serving direction parameter, a serving angle parameter, and a serving speed parameter. The step S300 of controlling the serving device to launch the tennis ball by using the first serving parameter or the second serving parameter includes:

[0109] The control device controls the support to rotate relative to the fixed seat based on the serving direction parameter, and controls the guide mechanism to rotate relative to the support based on the serving angle parameter;

[0110] The control device controls the rotation speed of the serving wheel based on the serving speed parameter so that the tennis ball is launched from the serving device through the serving wheel.

[0111] The control device controls the direction in which the bracket rotates relative to the fixed seat to be perpendicular to the direction in which the guide mechanism rotates relative to the bracket. In this embodiment, the control device controls the direction in which the bracket rotates relative to the fixed seat to be parallel to the horizontal plane, and controls the direction in which the guide mechanism rotates relative to the bracket to be perpendicular to the horizontal plane, so as to adjust the serving direction by rotating the bracket, and adjust the serving angle by rotating the guide mechanism.

[0112] In a specific embodiment, the control device controls the bracket to rotate relative to the fixing base in an angle range of -45° to 45°, and the control device controls the guide mechanism to rotate relative to the bracket so that the included angle range with the horizontal plane is 5° to 55°.

[0113] Preferably, see Fig. 9 , the method further comprises:

[0114] S400: Recording the serving parameters determined by the control device, and after the control device controls the serving device to launch the tennis ball according to the serving parameters, controlling the camera device to capture the user to record feedback image data including the user, so as to generate a set of motion data based on the serving parameters and the feedback image data.

[0115] S500: The control device analyzes the motion data in a preset manner to display the analysis result to the user.

[0116] Therefore, the method proposed in this embodiment can combine the serving data with the user's performance of this serving to provide a more accurate motion analysis, and generate motion data accordingly, so as to achieve the purpose of helping the user to correct the hitting action and make quantitative improvements; the serving data may include but is not limited to serving angle data, serving height data and serving speed data;

[0117] On this basis, the method can also set a communication module in the tennis machine to communicate with the remote terminal through the communication module to send the motion data and analysis results to the terminal to facilitate the user to directly view the data through the terminal, and can integrate multiple sets of motion data to generate motion summaries and personalized training plans for users, thereby helping users to understand their strengths and weaknesses more clearly, and then conduct more targeted training; the training plan can include multiple sets of serving parameters suitable for users, so that users can make corresponding settings.

[0118] For further information, see Fig.10, the method further comprises:

[0119] S600: enabling the control device to respond to an input instruction including a goal parameter and / or a first serve parameter, generate parameter data based on the input instruction, and control the camera device to capture a user to obtain set image data including the user.

[0120] S700: Identify the user action included in the setting image data to generate indication action data, and determine whether preset data including the indication action data already exists in the preset database, so as to delete the preset data from the preset database if it exists.

[0121] S800: Generate a set of preset data based on the indicated action data and the parameter data and store the data in a preset database.

[0122] Through steps S600-S800, the control method proposed in this embodiment allows the user to adjust the parameters corresponding to each indicated action by himself, and generates, stores and manages parameter data for interaction with the user in the tennis machine, providing data support for the subsequent control operation of the user action recognition control device, meeting the user's personalized needs, and ensuring the intelligence and adaptability of the tennis machine.

[0123] For further information, see Fig.11 , the method further comprises:

[0124] S210: If the control device determines the image data as second image data, second serving parameters and goal parameters are determined based on the second image data.

[0125] S310: The control device controls the serving device to launch the tennis ball according to the second serving parameter, and then controls the goal-scoring device to transfer the tennis ball to the serving device according to the goal-scoring parameter.

[0126] As mentioned above, the method proposed in this embodiment will confirm in advance whether there is a tennis ball to be launched in the serving device before executing step S310, and when there is no tennis ball to be launched in the serving device, the control device will control the goal-scoring device to transfer the tennis ball to the serving device, so that step S310 will be executed accordingly when there is a tennis ball to be launched in the serving device.

[0127] S320: Controlling the camera device through the control device to capture the user to obtain image data containing the user's batting action as new second image data, and analyzing whether the user's batting is successful based on the second image data.

[0128] Specifically, when the user successfully hits the ball using the racket, and the point where the tennis ball first contacts the ground after hitting is located in the bounds area of ​​the court near the direction of the tennis machine, the user's hit is determined to be successful; when the user fails to successfully hit the ball using the racket, or the point where the tennis ball first contacts the ground after hitting is not located in the bounds area of ​​the court near the direction of the tennis machine, that is, when the ball is not out of bounds or is out of bounds, the user's hit is determined to be unsuccessful.

[0129] If the user successfully hits the ball based on the analysis of the second image data in step S320, step S330 is executed.

[0130] S330: Repeat the step of “determining the second serving parameter and the goal parameter based on the second image data” until the user makes a missed shot or the serving device has launched a preset number of tennis balls.

[0131] It should be noted that after the control device determines the image data as the first image data for the first time, step S320 may also be executed accordingly after the tennis ball is launched by the serving device and the tennis ball is filled by the goal-scoring device.

[0132] Through steps S210-S330, the control method proposed in this embodiment can continuously monitor the user's hitting based on real-time analysis of image data, so as to continuously execute scoring and serving, and can dynamically adjust the serving parameters in the process, thereby achieving the effect of simulating actual fighting, ensuring that the training has more efficient interaction and feedback, meeting the user's training needs, and thus improving the user's experience.

[0133] In summary, the present invention proposes a tennis machine and a control method thereof. The solution proposed in the present invention can capture the user's image data in real time through a camera device, can accurately judge the user's actions, and enable the control device to intelligently determine the goal parameters and serve parameters according to different image data, thereby making intelligent adjustments based on the user's real-time needs, thereby improving the interactivity and personalization of training using the tennis machine, can effectively improve training efficiency and quality, and greatly optimize the training effect and user experience.

[0134] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tennis machine, characterized in that: It includes a camera device and a control device connected to the camera device, and a goal-scoring device and a ball-serving device controlled by the control device, wherein the ball-serving device is arranged on the ball-delivering path of the goal-scoring device; The camera device is used to capture a user to obtain image data containing the user and send the image data to the control device, and the control device determines the image data as first image data containing an indication action or second image data not containing an indication action; The control device is used to determine a goal parameter based on the first image data, and control the goal device to transfer the tennis ball to the serving device based on the goal parameter, and / or determine a first serving parameter based on the first image data, and control the serving device to launch the tennis ball based on the first serving parameter; The control device is also used to determine the goal parameters based on the second image data, and control the goal device to transfer the tennis ball to the serving device based on the goal parameters, and / or determine second serving parameters based on the second image data, and control the serving device to launch the tennis ball based on the second serving parameters.

2. The tennis ball machine according to claim 1, characterized in that: The goal-scoring device comprises a rotating disk and a first driving mechanism drivingly connected to the rotating disk; The bottom side of the goal-scoring device is provided with a goal-scoring opening, the turntable is rotatably arranged on the upper side of the goal-scoring opening and is provided with a plurality of fixing openings for positioning tennis balls, and the fixing openings can be communicated with the goal-scoring opening; The first driving mechanism is connected to the control device, and the control device drives the turntable to rotate based on the control of the goal parameters, so that a fixed port is connected to the goal port and the tennis ball on the fixed port is transferred to the serving device through the fixed port and the goal port.

3. The tennis ball machine according to claim 1, characterized in that: The ball serving device comprises a fixed seat, a bracket movably connected to the fixed seat, a guide mechanism movably connected to the bracket, and a ball serving wheel arranged at the ball serving end of the guide mechanism, as well as a second driving mechanism drivingly connected to the bracket, a third driving mechanism drivingly connected to the guide mechanism, and a fourth driving mechanism drivingly connected to the ball serving wheel; The second driving mechanism is connected to the control device, and the control device drives the bracket to rotate relative to the fixing seat based on the control of the first serving parameter or the second serving parameter; The third driving mechanism is connected to the control device, and the control device drives the guide mechanism to rotate relative to the bracket based on the control of the first serving parameter or the second serving parameter, and the direction in which the bracket is driven to rotate by the second driving mechanism is perpendicular to the direction in which the guide mechanism is driven to rotate by the third driving mechanism; The fourth driving mechanism is connected to the control device, and the control device drives the rotation of the serving wheel based on the control of the first serving parameter or the second serving parameter.

4. The tennis ball machine according to claim 1, characterized in that: It also includes a display device, wherein the display direction of the display device is consistent with the shooting direction of the camera device; The display device is further configured to determine display parameters based on the first image data and / or the second image data, and control the display device to turn on, turn off or adjust a display mode based on the display parameters.

5. The tennis ball machine according to any one of claims 1 to 4, characterized in that: Also included is a voice device connected to the control device; The voice device is used to obtain the voice data of the user and send it to the control device, so that the control device determines the goal parameter based on the voice data, and controls the goal device to pass the tennis ball to the serving device based on the goal parameter; And / or, the control device determines a third serving parameter based on the voice data, and controls the serving device to launch the tennis ball based on the third serving parameter.

6. A control method, characterized in that: Applied to the tennis ball machine according to any one of claims 1 to 5, the method comprises: recognizing the image data transmitted by the camera device through the control device; If the image data includes an indication action, the image data is determined as first image data, and the control device determines the goal parameter and / or the first serve parameter based on the first image data; if the image data does not include an indication action, the image data is determined as second image data, and the control device determines the goal parameter and / or the second serve parameter based on the second image data; The control device controls the goal-scoring device to transfer the tennis ball to the serving device according to the goal-scoring parameter, and / or controls the serving device to launch the tennis ball according to the first serving parameter or the second serving parameter.

7. The control method according to claim 6, characterized in that: The goal parameters include a quantity parameter and an interval time parameter, and the goal device is controlled by the goal parameters to transfer the tennis ball to the serving device, including: The control device controls the goal-scoring device to periodically deliver tennis balls to the serving device based on the interval time parameter until the number of tennis balls delivered by the goal-scoring device meets the requirement of the number parameter; The serving device comprises a fixed seat, a bracket rotatably connected to the fixed seat, a guide mechanism rotatably connected to the bracket, and a serving wheel arranged at a serving end of the guide mechanism, wherein the rotation direction of the bracket relative to the fixed seat is parallel to a horizontal plane, and the rotation direction of the guide mechanism relative to the bracket is perpendicular to a horizontal plane, and the serving parameters comprise a serving direction parameter, a serving angle parameter, and a serving speed parameter. The serving device is controlled to launch a tennis ball by using the first serving parameter or the second serving parameter, and comprises: The control device controls the support to rotate relative to the fixed seat based on the serving direction parameter, and controls the guide mechanism to rotate relative to the support based on the serving angle parameter; The control device controls the rotation speed of the serving wheel based on the serving speed parameter so that the tennis ball is launched from the serving device through the serving wheel.

8. The control method according to claim 6 or 7, characterized in that: The method further comprises: Recording the serving parameters determined by the control device, and after the control device controls the serving device to launch the tennis ball according to the serving parameters, controlling the camera device to capture the user to record feedback image data containing the user, so as to generate a set of motion data based on the serving parameters and the feedback image data; The control device analyzes the motion data in a preset manner to display the analysis results to the user.

9. The control method according to claim 6 or 7, characterized in that: “The control device determines the goal parameter and / or the first serve parameter based on the first image data” is implemented based on a preset database, the preset database includes several groups of preset data including indicative action data and parameter data, and the method further includes: The control device generates parameter data based on the input instruction in response to the input instruction including the goal parameter and / or the first serve parameter, and controls the camera device to capture the user to obtain set image data including the user; identifying a user action included in the setting image data to generate indication action data, and determining whether preset data including the indication action data already exists in the preset database, so as to delete the preset data from the preset database if it exists; A set of preset data is generated based on the indicated action data and the parameter data and stored in the preset database.

10. The control method according to claim 6 or 7, characterized in that: The method further comprises: If the control device determines the image data as second image data, determining the second serving parameter and the goal parameter based on the second image data; The control device controls the serving device to launch the tennis ball according to the second serving parameter, and then controls the goal-scoring device to pass the tennis ball to the serving device according to the goal-scoring parameter; Controlling the camera device to capture the user through the control device to obtain image data containing the user's hitting action as new second image data, and analyzing whether the user's hitting action is successful based on the second image data; If the user successfully hits the ball, the step of "determining the second serving parameter and goal parameter based on the second image data" is repeated until the user fails to hit the ball or the serving device has launched a preset number of tennis balls.

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