Tennis robot and control method

Abstract

The invention relates to a tennis robot and a control method. The tennis robot comprises a tennis robot body, a camera assembly, a ball hitting assembly, a sensing assembly, a moving module and a main control module. The camera assembly comprises a rotating module, a first visible light camera and a second visible light camera, the first visible light camera and the second visible light camera are arranged on the rotating module, and the rotating module is arranged on the tennis robot body; the rotating module is used for driving the first visible light camera and the second visible light camera to rotate and outputting a rotating angle relative to a preset original point position; the first visible light camera and the second visible light camera are used for collecting a tennis ball image set containing a tennis ball to be picked up; the sensing assembly is used for acquiring motion information of the tennis robot; the main control module is connected with the first visible light camera, the second visible light camera, the rotating module, the ball hitting assembly, the moving module and the sensing assembly.

Description

Technical Field

[0001] The present application relates to the technical field of tennis robots, and in particular to tennis robots and control methods. Background Art

[0002] With the popularity of tennis, there are more and more tennis enthusiasts. A tennis robot is provided to achieve tennis playing with tennis enthusiasts.

[0003] Common tennis robots can only serve at a preset position on the court, but have difficulty catching the ball during the game. They can only pick up the tennis balls scattered under the court lights one by one after the game, resulting in a poor playing experience. Summary of the invention

[0004] Based on this, it is necessary to provide a tennis robot and a control method to address the above technical issues.

[0005] In a first aspect, the present application provides a tennis robot, the tennis robot comprising a tennis robot body, a camera assembly, a hitting assembly, a sensor assembly, a moving module and a main control module;

[0006] The camera assembly includes a rotating module, a first visible light camera and a second visible light camera, wherein the first visible light camera and the second visible light camera are arranged on the rotating module, and the rotating module is arranged on the tennis robot body; the rotating module is used to drive the first visible light camera and the second visible light camera to rotate, and output a rotation angle relative to a preset initial angle;

[0007] The first visible light camera and the second visible light camera are used to collect a set of tennis ball images containing a tennis ball to be received;

[0008] The sensor component is used to obtain the motion information of the tennis robot;

[0009] The main control module is respectively connected to the first visible light camera, the second visible light camera, the rotation module, the hitting assembly, the mobile module and the sensor assembly, and is used to control the rotation of the rotation module according to the tennis image set, control the mobile module to move to the ball receiving position according to the rotation angle, the tennis image set and the motion information, and drive the hitting assembly to hit the tennis ball to be received.

[0010] In one embodiment, the ball striking assembly includes a robotic arm.

[0011] In one embodiment, the rotating module includes a hollow motor;

[0012] Wherein, the support shaft of the mechanical arm is arranged in the hollow part of the hollow motor.

[0013] In one of the embodiments, the distance between the center of the support axis of the robotic arm and the rotation center of the rotation module is greater than or equal to 2 cm.

[0014] In one of the embodiments, the rotation module includes a camera bracket and a rotation motor;

[0015] The camera bracket is used to fix the first visible light camera and the second visible light camera;

[0016] The rotating motor is connected to the camera bracket and is disposed on the tennis robot body, and is used to drive the camera bracket, the first visible light camera and the second visible light camera to rotate and obtain the rotation angle.

[0017] In one embodiment, the hardness of the camera bracket is greater than the hardness of the tennis robot body.

[0018] In one of the embodiments, the rotary motor is equipped with an encoder, and the encoder is used to obtain the rotation angle.

[0019] In one embodiment, a first height of the ball striking assembly in the height direction of the tennis robot body is greater than a second height of the camera assembly in the height direction of the tennis robot body.

[0020] In one embodiment, the angle between the optical axes of the first visible light camera and the second visible light camera and the ground is less than or equal to 30°.

[0021] In one embodiment, the longitudinal angles of the optical axes of the first visible light camera and the second visible light camera in space are both less than or equal to 15°.

[0022] In one embodiment, the first visible light camera and the second visible light camera are spaced apart at a distance greater than or equal to 12 cm.

[0023] In one embodiment, the field of view angle range of the first visible light camera and the second visible light camera is 20°~120°.

[0024] In one embodiment, the motion information includes acceleration information and angular velocity information; the sensor component includes an accelerometer and a gyroscope, and the accelerometer and the gyroscope are both electrically connected to the main control module;

[0025] The accelerometer is used to obtain the acceleration information;

[0026] The gyroscope is used to obtain the angular velocity information.

[0027] In a second aspect, the present application further provides a control method for controlling the tennis robot as described above; the control method comprises:

[0028] receiving a set of tennis images of a tennis ball to be received captured by a first visible light camera and a second visible light camera of the tennis robot at multiple times;

[0029] Receiving rotation angles corresponding to a plurality of moments in the tennis image set output by a rotation module of the tennis robot;

[0030] Acquire a target predicted motion trajectory of the tennis ball to be received according to the tennis ball image set, the rotation angles corresponding to a plurality of moments, and the motion information of the tennis robot;

[0031] The moving module is controlled to move to a ball receiving position according to the target predicted motion trajectory.

[0032] In one embodiment, the tennis image set includes a first tennis image set and a second tennis image set; the first tennis image set includes a first image group respectively acquired by the first visible light camera and the second visible light camera at multiple moments;

[0033] The receiving of the tennis image set of the tennis ball to be received collected by the first visible light camera and the second visible light camera of the tennis robot at multiple times includes:

[0034] Receiving a first image group acquired by the first visible light camera and the second visible light camera of the tennis robot at a previous moment; the previous moment is any moment among the multiple moments except the last moment;

[0035] controlling the rotation module to rotate according to the position information of the tennis ball to be received in the first image group acquired at the previous moment, so as to acquire the first image group corresponding to the next moment after the rotation, so that the first image groups corresponding to multiple moments constitute the first tennis ball image set; the next moment is the first moment after the previous moment among the multiple moments;

[0036] The second tennis image set is acquired according to the first tennis image set, the rotation angle and the motion information of the tennis robot.

[0037] In one embodiment, controlling the rotation of the rotation module according to the position information of the tennis ball to be received in the first image group acquired at the last moment includes:

[0038] Acquire actual pixel values ​​of the tennis ball to be received in the first image group acquired at the last moment;

[0039] When the actual pixel value is greater than the preset target pixel value, the position information indicates that the pixel is located on the left side, and the rotation module is controlled to rotate counterclockwise;

[0040] When the actual pixel value is less than the preset target pixel value, the position information is located on the right side, and the rotation module is controlled to rotate clockwise.

[0041] In one embodiment, acquiring the second tennis image set according to the first tennis image set, the rotation angle and the motion information of the tennis robot includes:

[0042] Acquire a reference predicted motion trajectory of the tennis ball to be received according to the first tennis ball image set, the rotation angle and the motion information of the tennis robot;

[0043] Controlling the movement of the mobile module of the tennis robot according to the reference predicted motion trajectory; the second tennis image set includes a second image group acquired by the first visible light camera and the second visible light camera at multiple moments during the movement of the tennis robot;

[0044] Controlling the rotation module to rotate according to the reference predicted motion trajectory, the rotation angle and the motion information to obtain a second image group corresponding to the last moment of movement, the rotation angle and the motion information; the last moment of movement is any moment except the last moment in the multiple moments of the movement process of the tennis robot;

[0045] According to the second image group, the rotation angle and the motion information corresponding to the previous movement moment, the second image group, the rotation angle and the motion information corresponding to the next movement moment are obtained until the second image group corresponding to the last movement moment is obtained; the next movement moment is the first moment after the previous movement moment among multiple moments in the movement process of the tennis robot; the last movement moment is the last moment among multiple moments in the movement process of the tennis robot.

[0046] In one embodiment, the first visible light camera and the second visible light camera are both configured with a master-slave mode or a hard trigger mode, so that the time interval for the main control module in the tennis robot to receive images output by the first visible light camera and the second visible light camera is less than or equal to 1ms.

[0047] The above-mentioned tennis robot and control method, the tennis robot includes a tennis robot body, a camera assembly, a hitting assembly, a sensor assembly, a mobile module and a main control module; the camera assembly includes a rotation module, a first visible light camera and a second visible light camera, the first visible light camera and the second visible light camera are arranged on the rotation module, and the rotation module is arranged on the tennis robot body; the rotation module is used to drive the first visible light camera and the second visible light camera to rotate, and output the rotation angle relative to the preset initial angle; the first visible light camera and the second visible light camera are used to collect a tennis image set containing a tennis ball to be received; the sensor assembly is used to obtain the motion information of the tennis robot; the main control module is respectively connected to the first visible light camera, the second visible light camera, the rotation module, the hitting assembly, the mobile module and the sensor assembly, and is used to control the rotation of the rotation module according to the tennis image set, control the mobile module to move to the ball receiving position according to the rotation angle, the tennis image set and the motion information, and drive the hitting assembly to hit the tennis ball to be received. It can be seen that the main control module of the tennis robot in the present application controls the rotation of the rotation module according to the tennis image set obtained by the first visible light camera and the second visible light camera, which can ensure that the first visible light camera and the second visible light camera can obtain images containing the tennis ball to be received in most cases during the tennis robot's ball catching process. In addition, the first visible light camera and the second visible light camera rotate under the drive of the rotation module, so that the first visible light camera and the second visible light camera can obtain images of a larger range of the tennis ball to be received in the court, and when the tennis ball to be received is close to the tennis robot, it can also ensure that the tennis image set containing the tennis ball to be received is obtained. Further, according to the rotation angle, the tennis image set and the motion information, the position of the tennis ball to be received on the court can be accurately obtained, so as to control the mobile module to move to the ball catching position to achieve accurate hitting of the tennis ball to be received. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 is a schematic diagram of the structure of a tennis robot in an embodiment of the present application;

[0050] Figure 2 Schematic diagram of the structural relationship between the rotating module and the robotic arm in one embodiment of the present application;

[0051] Figure 3 A top view of a ball striking assembly and a camera assembly in an embodiment of the present application when they are spaced apart;

[0052] Figure 4 A schematic diagram of the angle between the optical axes of the first visible light camera and the second visible light camera and the ground, and the longitudinal angle between the optical axes of the first visible light camera and the second visible light camera in space in one embodiment of the present application;

[0053] Figure 5 The virtual viewing angle range that the tennis robot in one embodiment of the present application can observe when it is at position 1 to position 3 on the court;

[0054] Figure 6 A schematic diagram of the field of view angle ranges of the first visible light camera and the second visible light camera in one embodiment of the present application;

[0055] Figure 7 A flow chart of a control method in one embodiment of the present application;

[0056] Figure 8 It is a schematic diagram of a process of receiving a set of tennis images of a tennis ball to be received collected by the first visible light camera and the second visible light camera of the tennis robot at multiple times in one embodiment of the present application;

[0057] Fig. 9 This is a flow chart of controlling the rotation of the rotation module according to the position information of the tennis ball to be received in the first image group acquired at the last moment in one embodiment of the present application;

[0058] FIG. 10 ( a ) to FIG. 10 ( c ) are three schematic diagrams of controlling the rotation of a rotation module according to a set of tennis ball images in one embodiment of the present application;

[0059] Fig.11 The figure is a flow chart of obtaining a second tennis image set according to a first tennis image set, a rotation angle and movement information of a tennis robot in one embodiment of the present application.

[0060] Description of Figure Numbers:

[0061] 100: tennis robot; 110: tennis robot body; 120: camera assembly; 121: rotation module; 1211: hollow motor; 122: first visible light camera; 123: second visible light camera; 130: hitting assembly; 131: support shaft of the robot arm; 140: sensor assembly; 150: moving module; 160: main control module. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0063] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0064] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0065] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" 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 connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0066] In one embodiment, see the attached Figure 1 , attached Figure 1 The schematic diagram of the structure of a tennis robot 100 in an embodiment of the present application is shown. The tennis robot 100 in the present application includes a tennis robot body 110, a camera assembly 120, a ball striking assembly 130, a sensor assembly 140, a moving module 150 and a main control module 160.

[0067] The camera assembly 120 includes a rotating module 121, a first visible light camera 122 and a second visible light camera 123. The first visible light camera 122 and the second visible light camera 123 are arranged on the rotating module 121, and the rotating module 121 is arranged on the tennis robot body 110; the rotating module 121 is used to drive the first visible light camera 122 and the second visible light camera 123 to rotate, and output the rotation angle relative to the preset initial angle.

[0068] The first visible light camera 122 and the second visible light camera 123 may also be understood as monochrome cameras, R (Red) G (Green) B (Blue) cameras, but are not limited thereto.

[0069] The rotating module 121 is used to support the first visible light camera 122 and the second visible light camera 123, and drive the first visible light camera 122 and the second visible light camera 123 to rotate, and output a rotation angle relative to a preset initial angle. Exemplarily, the rotating module 121 includes a camera bracket and a rotating motor, the camera bracket is used to support the first visible light camera 122 and the second visible light camera 123, and the rotating motor is connected to the camera bracket. Driven by the rotating motor, the camera bracket further drives the first visible light camera 122 and the second visible light camera 123 to rotate.

[0070] The first visible light camera 122 and the second visible light camera 123 are used to collect a set of tennis ball images containing the tennis ball to be received.

[0071] The first visible light camera 122 and the second visible light camera 123 capture images of the tennis ball to be received in the court at almost or at the same time to form a tennis image set containing the tennis ball to be received. Exemplarily, the first visible light camera 122 and the second visible light camera 123 may capture images of the tennis ball to be received in the court at multiple times, at almost or at the same time to form a tennis image set containing the tennis ball to be received.

[0072] The sensor component 140 is used to obtain movement information of the tennis robot 100 .

[0073] The sensor component 140 may be a component that encapsulates one or more sensors, such as an IMU (Inertial Measurement Unit), but is not limited thereto. The motion information may be acceleration information, angular velocity information, etc., but is not limited thereto.

[0074] The main control module 160 is respectively connected to the first visible light camera 122, the second visible light camera 123, the rotation module 121, the hitting assembly 130, the moving module 150 and the sensor assembly 140, and is used to control the rotation of the rotation module 121 according to the tennis image set, control the moving module 150 to move to the ball receiving position according to the rotation angle, the tennis image set and the motion information, and drive the hitting assembly 130 to hit the tennis ball to be received.

[0075] The ball receiving position refers to the position where the ball striking assembly 130 can hit the tennis ball to be received.

[0076] In this embodiment, the main control module 160 of the tennis robot 100 controls the rotation module 121 to rotate according to the tennis image set obtained by the first visible light camera 122 and the second visible light camera 123, so as to ensure that the first visible light camera 122 and the second visible light camera 123 can obtain images containing the tennis ball to be received in most cases during the tennis robot 100's ball receiving process. In addition, the first visible light camera 122 and the second visible light camera 123 rotate under the drive of the rotation module 121, so that the first visible light camera 122 and the second visible light camera 123 can obtain images of a larger range of the tennis ball to be received in the court, and when the tennis ball to be received is close to the tennis robot 100, it is also possible to ensure that the tennis image set containing the tennis ball to be received is obtained. Further, according to the rotation angle, the tennis image set and the motion information, the position of the tennis ball to be received on the court can be accurately obtained, so as to control the moving module 150 to move to the ball receiving position to achieve accurate hitting of the tennis ball to be received.

[0077] In one embodiment, the ball striking assembly includes a robotic arm.

[0078] The robot arm can be used for serving or catching the ball. In this embodiment, the robot arm is used for catching the ball as an example for explanation. The tennis ball hit by the tennis opponent and the tennis ball hit by the tennis robot are the same tennis ball, which can improve the consistency of the hitting. The hitting behavior of the tennis robot is closer to the hitting behavior of a human, which improves the authenticity and playing experience.

[0079] Compared with ball receiving boxes, ball receiving frames and other ball receiving structures, the ball receiving surface of the robotic arm is smaller, and the main control module is required to more accurately locate the tennis ball to be received. When the tennis ball approaches the robot for hitting, it will be located on the left or right side of the robot. At this time, it is difficult for the forward camera to capture the tennis ball. If multiple binocular cameras are arranged to capture the ball located on the side, the cost will be greatly increased. In the embodiment, the first visible light camera and the second visible light camera rotate driven by the rotating module, so that the first visible light camera and the second visible light camera can obtain a larger range of images of the tennis ball to be received in the court. When the tennis ball to be received is close to the tennis robot, it can also ensure that the tennis image set containing the tennis ball to be received is obtained, so as to achieve accurate positioning of the tennis ball to be received, and ensure that the robotic arm can accurately hit the ball on the basis of reducing costs.

[0080] In one embodiment, see the attached Figure 2 Attached Figure 2 The schematic diagram of the structural relationship between the rotating module and the mechanical arm is shown. The rotating module includes a hollow motor 1211.

[0081] Among them, the support shaft 131 of the robot arm is arranged in the hollow part of the hollow motor 1211.

[0082] In this embodiment, the support shaft 131 of the robotic arm is arranged in the hollow part of the hollow motor 1211, which can ensure that the rotating module will not collide with the robotic arm during rotation, and at the same time ensure that the rotating module has a sufficiently large rotation angle, such as 0~360°, so that the first visible light camera 122 and the second visible light camera 123 can obtain a larger range of tennis image sets of the tennis ball to be received in the court.

[0083] In one embodiment, the rotation module includes a camera bracket and a rotating motor. The camera bracket is used to fix the first visible light camera and the second visible light camera. The rotating motor is connected to the camera bracket and is arranged on the tennis robot body to drive the camera bracket, the first visible light camera and the second visible light camera to rotate and obtain the rotation angle.

[0084] In this embodiment, the camera bracket is used to support the first visible light camera and the second visible light camera, so that the camera extrinsic parameters of the first visible light camera relative to the second visible light camera are almost unchanged or unchanged during the movement of the tennis robot, thereby improving the accuracy of depth estimation based on the tennis image set acquired by the first visible light camera and the second visible light camera. The rotary motor drives the camera bracket to rotate, and then drives the first visible light camera and the second visible light camera to rotate, thereby increasing the shooting range of the first visible light camera and the second visible light camera.

[0085] In one embodiment, the hardness of the camera bracket is greater than the hardness of the tennis robot body.

[0086] In this embodiment, the first visible light camera and the second visible light camera are fixed by a camera bracket, and the hardness of the camera bracket is greater than the hardness of the tennis robot body, so that the relative angle and position between the first visible light camera and the second visible light camera can be guaranteed to remain unchanged, thereby improving the accuracy of predicting the receiving position of the tennis ball to be received based on the tennis ball image set obtained by the first visible light camera and the second visible light camera, thereby improving the accuracy of the tennis robot in receiving the ball. It is avoided that the relative angle of the camera changes due to impact, vibration and other factors, thereby causing the position estimation error of the tennis ball to be received to become larger.

[0087] In one embodiment, the rotary motor is equipped with an encoder, and the encoder is used to obtain the rotation angle.

[0088] In this embodiment, the rotation angle is obtained by the encoder configured in the rotary motor, which can more accurately represent the angle information of the first visible light camera and the second visible light camera, and is helpful to make a more accurate position prediction of the tennis ball to be received based on the tennis ball image set obtained by the first visible light camera and the second visible light camera. And it can improve the real-time performance of the rotary motor in obtaining the rotation angle.

[0089] In one embodiment, continue to refer to the attached Figure 1 , a first height of the ball striking assembly 130 in the height direction of the tennis robot body 110 is greater than a second height of the camera assembly 120 in the height direction of the tennis robot body 110 .

[0090] In this embodiment, the first height of the hitting component 130 in the height direction of the tennis robot body 110 is greater than the second height of the camera component 120 in the height direction of the tennis robot body 110, which can ensure that the first visible light camera 122 and the second visible light camera 123 will not collide or interact with the hitting component 130 when they rotate on a plane parallel to the ground driven by the rotating module 121, thereby improving the stability of the structure of the tennis robot 100 and expanding the shooting range of the first visible light camera 122 and the second visible light camera 123.

[0091] In one embodiment, see the attached Figure 3 , attached Figure 3 The top view of the ball striking assembly 130 and the camera assembly 120 is shown. The distance d between the center of the support shaft 131 of the mechanical arm and the rotation center of the rotation module 121 is greater than or equal to 2 cm.

[0092] Exemplarily, the distance d between the ball striking assembly 130 and the camera assembly 120 may be 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, etc., but is not limited thereto.

[0093] In this embodiment, the distance d between the hitting component 130 and the camera component 120 is greater than or equal to 2 cm, which can avoid further settings on the structure of the rotating module 121, and can also ensure that the rotation angle of the rotating module 121 is as large as possible, which can be greater than 90°. The maximum rotation angle is only slightly less than 180°, ensuring that images containing the tennis ball to be received can be obtained most of the time during the movement of the tennis robot.

[0094] In one embodiment, see the attached Figure 4 , attached Figure 4 A schematic diagram showing the angle between the optical axes of the first visible light camera and the second visible light camera and the ground, and the longitudinal angle between the optical axes of the first visible light camera and the second visible light camera in space. In this embodiment, the angle between the optical axes of the first visible light camera and the second visible light camera and the ground is less than or equal to 30°.

[0095] Exemplarily, the angle between the optical axes of the first visible light camera and the second visible light camera and the ground may be 30°, 20°, 10°, 5°, etc., but is not limited thereto.

[0096] In this embodiment, the angle between the optical axes of the first visible light camera and the second visible light camera and the ground is less than or equal to 30°, which can ensure that the first visible light camera and the second visible light camera can both capture the tennis ball to be received when the tennis robot is located at most positions on the court.

[0097] In one embodiment, continue to refer to the attached Figure 4 , the longitudinal angles of the optical axes of the first visible light camera and the second visible light camera in space are both less than or equal to 15°.

[0098] Among them, the longitudinal angle between the optical axes of the first visible light camera and the second visible light camera in space can be understood as the longitudinal viewing angle range of the first visible light camera and the second visible light camera in space, and the longitudinal viewing angle range refers to the viewing angle range of the first visible light camera and the second visible light camera in the direction perpendicular to the ground.

[0099] Exemplarily, the longitudinal angle between the first visible light camera and the second visible light camera in space can be 15°, 14°, 13°, 12°, 11°, 10°, 9°, 8°, 7°, 6°, 5°, 4°, 3°, 2°, 1°, etc., but is not limited to this.

[0100] In this embodiment, the longitudinal angles between the first visible light camera and the second visible light camera in space are both less than or equal to 15°, which can ensure that the first visible light camera and the second visible light camera can simultaneously capture images of the tennis ball in the longitudinal direction, thereby improving the accuracy of the tennis robot in catching the ball.

[0101] See attached Figure 5 , attached Figure 5 The virtual viewing angle range that the tennis robot in this embodiment can observe when it is at position 1 to position 3 of the court is shown. The tennis robot in this embodiment can observe the tennis ball and the user at position 1 to position 3.

[0102] In one embodiment, the first visible light camera and the second visible light camera are spaced apart by a distance greater than or equal to 12 cm.

[0103] Exemplarily, the distance between the first visible light camera and the second visible light camera can be 12cm, 13cm, 14cm, 15cm, 16cm, 17cm, 18cm, 19cm, 20cm, etc. The distance between the first visible light camera and the second visible light camera can also be greater than 20cm, such as 21cm, 22cm, 23cm, 24cm, 25cm, 26cm, 27cm, 28cm, 29cm, 30cm, etc., but not limited to this.

[0104] In this embodiment, the distance between the first visible light camera and the second visible light camera in the width direction of the tennis robot body is greater than or equal to 12 cm, which can ensure the field of view of the first visible light camera and the second visible light camera, and ensure that the tennis image set acquired based on the first visible light camera and the second visible light camera can accurately estimate the depth of the real-time position of the tennis ball on the court.

[0105] In one embodiment, see the attached Figure 6 , attached Figure 6 A schematic diagram is shown of the field of view angle ranges of the first visible light camera 122 and the second visible light camera 123 . In this embodiment, the field of view angle ranges of the first visible light camera 122 and the second visible light camera 123 are both 20° to 120°.

[0106] Exemplarily, the field of view angle ranges of the first visible light camera 122 and the second visible light camera 123 are both 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, etc., but are not limited thereto.

[0107] When the field of view angle is too large, image distortion may occur, resulting in inaccurate depth estimation of the tennis ball, and the tennis ball in the distance may be too small to be recognized. When the field of view angle is too small, the tennis ball may not be captured in some areas. In this embodiment, the field of view angles of the first visible light camera 122 and the second visible light camera 123 are both 20° to 120°, which can ensure that the blind spots of the first visible light camera 122 and the second visible light camera 123 are less than or equal to 500mm, ensuring that the first visible light camera 122 and the second visible light camera 123 can obtain tennis ball images in more positions, achieve more accurate prediction of the position of the tennis ball, and improve the accuracy of catching the ball.

[0108] In one embodiment, the motion information includes acceleration information and angular velocity information; the sensing component includes an accelerometer and a gyroscope, and both the accelerometer and the gyroscope are electrically connected to the main control module; the accelerometer is used to obtain acceleration information; and the gyroscope is used to obtain angular velocity information.

[0109] In this embodiment, the rotation angle of the first coordinate system relative to the second coordinate system can be obtained based on the angular velocity information. The first coordinate system is a three-dimensional coordinate system with the tennis robot as the origin, and the second coordinate system is a three-dimensional coordinate system with any fixed point in the court as the origin. Based on the acceleration information, the position of the tennis robot in the coordinate system established with any fixed point in the court as the origin can be obtained. Therefore, the position of the tennis ball to be received in the court can be predicted based on the rotation angle, the tennis image set and the motion information, thereby improving the accuracy of the tennis robot in catching the ball.

[0110] In one embodiment, see the attached Figure 7 , attached Figure 7 A flow chart of a control method in an embodiment of the present application is shown.

[0111] The control method in this embodiment is used to control the tennis robot in any of the above embodiments. The control method in this embodiment includes the following steps S701 to S704.

[0112] Step S701, receiving a set of tennis images of a tennis ball to be received, which are captured by a first visible light camera and a second visible light camera of the tennis robot at multiple times.

[0113] The tennis image set includes tennis image groups corresponding to multiple moments, and each tennis image group includes tennis images captured by the first visible light camera and the second visible light camera at the same moment or nearly at the same moment.

[0114] Step S702, receiving the rotation angles corresponding to multiple moments in the tennis image set output by the rotation module of the tennis robot.

[0115] Exemplarily, the first visible light camera and the second visible light camera all take tennis ball images at the first moment, the second moment and the third moment, and respectively receive the rotation angles output by the rotation module at the first moment, the second moment and the third moment.

[0116] Step S703, obtaining a target predicted motion trajectory of the tennis ball to be received according to the tennis ball image set, the rotation angles corresponding to multiple moments, and the motion information of the tennis robot.

[0117] According to the tennis image set corresponding to a moment in the tennis image set, the rotation angle at the same moment, and the motion information of the tennis robot at the same moment, the position of the tennis ball to be received in the court at that moment can be determined. Based on the positions of the tennis ball to be received in the court determined at multiple moments, the accurate target predicted motion trajectory of the tennis ball to be received can be predicted.

[0118] Step S704, controlling the mobile module to move to the ball receiving position according to the target predicted motion trajectory.

[0119] In this embodiment, the first visible light camera and the second visible light camera rotate under the drive of the rotating module, so that the first visible light camera and the second visible light camera can obtain a wider range of images of the tennis ball to be received in the court, and when the tennis ball to be received is close to the tennis robot, it can also ensure that the tennis image set containing the tennis ball to be received is obtained. Further, according to the rotation angle, the tennis image set and the motion information, the position of the tennis ball to be received on the court can be accurately obtained, so as to control the moving module to move to the ball receiving position to achieve accurate hitting of the tennis ball to be received.

[0120] In one embodiment, see the attached Figure 8 , attached Figure 8 A schematic diagram of the process of receiving a set of tennis images of a tennis ball to be received collected by the first visible light camera and the second visible light camera of the tennis robot at multiple moments in this embodiment is shown.

[0121] In this embodiment, the tennis image set includes a first tennis image set and a second tennis image set; the first tennis image set includes a first image group acquired by the first visible light camera and the second visible light camera at multiple times. Receiving the tennis image set of the tennis ball to be received acquired by the first visible light camera and the second visible light camera of the tennis robot at multiple times includes the following steps S801 to S803.

[0122] Step S801: receiving a first image group acquired by a first visible light camera and a second visible light camera of the tennis robot at a previous moment.

[0123] The previous moment is any moment except the last moment among the multiple moments in the first tennis image set.

[0124] Step S802, controlling the rotation module to rotate according to the position information of the tennis ball to be received in the first image group obtained at the previous moment, so as to obtain the first image group corresponding to the next moment after the rotation, so that the first image groups corresponding to multiple moments constitute the first tennis ball image set.

[0125] The next moment is the first moment after the previous moment among the multiple moments.

[0126] Exemplarily, the first visible light camera and the second visible light camera acquire image groups at five moments (the first moment, the second moment, the third moment, the fourth moment and the fifth moment respectively). The previous moment in step S801 may refer to any one of the first moment, the second moment, the third moment and the fourth moment. When the previous moment is the first moment, the next moment in step S802 may be the second moment; when the previous moment is the second moment, the next moment in step S802 may be the third moment; when the previous moment is the third moment, the next moment in step S802 may be the fourth moment; when the previous moment is the fourth moment, the next moment in step S802 may be the fifth moment.

[0127] Step S803: Acquire a second tennis image set according to the first tennis image set, the rotation angle, and the motion information of the tennis robot.

[0128] The rotation angle and the motion information of the tennis robot are obtained at the same time as the time when each first image group in the first tennis image set is obtained.

[0129] Exemplarily, the first image group is acquired at the first moment to the fifth moment respectively, and the rotation angle and the motion information of the tennis robot are correspondingly acquired at the first moment to the fifth moment respectively.

[0130] In this embodiment, the rotation module is controlled to rotate according to the position information of the tennis ball to be received in the first image group obtained at the previous moment to obtain the first image group corresponding to the next moment after the rotation, which can ensure that the first visible light camera and the second visible light camera can obtain images that are sufficient to include the tennis ball to be received. The second tennis image set is obtained according to the first tennis image set, the rotation angle and the motion information of the tennis robot, so that the second tennis image set can more accurately represent the running trajectory of the tennis ball, thereby obtaining a more accurate ball receiving position.

[0131] In one embodiment, see the attached Fig. 9 , attached Fig. 9 The flowchart of controlling the rotation of the rotation module according to the position information of the tennis ball to be received in the first image group acquired at the last moment in this embodiment is shown.

[0132] In this embodiment, controlling the rotation of the rotation module according to the position information of the tennis ball to be received in the first image group acquired at the last moment includes the following steps S901 to S9022.

[0133] Step S901, obtaining actual pixel values ​​of the tennis ball to be received in the first image group obtained at the last moment.

[0134] The first image group includes an image captured by the first visible light camera at the last moment and an image captured by the second visible light camera at the last moment. Image processing is performed on the image captured by the first visible light camera at the last moment and the image captured by the second visible light camera at the last moment to respectively obtain pixel values ​​of the tennis ball to be received in the images, and an average value of the pixel values ​​of the tennis ball to be received in the two images is taken as the actual pixel value.

[0135] Step S9021, when the actual pixel value is greater than the preset target pixel value, the position information is located on the left side, and the rotation module is controlled to rotate counterclockwise.

[0136] The preset target pixel value can be flexibly set according to actual needs. For example, the target pixel value can indicate that the tennis ball to be received is located near the center line of the image, thereby ensuring that the first visible light camera and the second visible light camera can also obtain an image containing the tennis ball to be received at the next moment.

[0137] When the actual pixel value is greater than the preset target pixel value, it can be determined that when the tennis robot is used as the observation angle, the tennis ball to be received is on the left side of the tennis ball to be received, thereby controlling the rotation module to rotate counterclockwise to increase the possibility of observing the tennis ball to be received at the next moment.

[0138] Step S9022: When the actual pixel value is less than the preset target pixel value, the position information is that it is located on the right side, and the rotation module is controlled to rotate clockwise.

[0139] When the actual pixel value is greater than the preset target pixel value, it can be determined that when the tennis robot is used as the observation angle, the tennis ball to be received is on the right side of the tennis ball to be received, thereby controlling the rotation module to rotate clockwise, ensuring that the first visible light camera and the second visible light camera obtain images containing the tennis ball to be received in most cases during the tennis robot's catching process.

[0140] For example, referring to FIG. 10 (a), FIG. 10 (a) shows one of the schematic diagrams of controlling the rotation of the rotation module according to the tennis image set. In the tennis image P1 acquired by the first visible light camera and the tennis image P2 acquired by the second visible light camera, the tennis ball S1 to be received is located on the left side of the image, and the rotation module is controlled to rotate clockwise so that in the tennis image P1' acquired by the first visible light camera and the tennis image P2' acquired by the second visible light camera, the tennis ball S1 to be received is near the center line of the image.

[0141] As another example, referring to FIG. 10 (b), FIG. 10 (b) shows a second schematic diagram of controlling the rotation of the rotation module according to the tennis image set. In the tennis image P1 acquired by the first visible light camera, the tennis ball S1 to be received is located on the center line of the image, and in the tennis image P2 acquired by the second visible light camera, the tennis ball to be received is located on the right side of the image, then the rotation module is controlled to rotate counterclockwise, so that in the tennis image P1' acquired by the first visible light camera and the tennis image P2' acquired by the second visible light camera, the tennis ball S1 to be received is near the center line of the image.

[0142] As another example, referring to FIG. 10( c ), FIG. 10( c ) shows a third schematic diagram of controlling the rotation of the rotation module according to the tennis image set. Controlling the rotation of the rotation module according to the tennis image set may also be controlling the rotation of the rotation module according to the position of the tennis ball to be received in the tennis image set and the predicted motion trajectory of the tennis ball to be received obtained based on the tennis image set.

[0143] If the predicted motion trajectory of the tennis ball to be received obtained based on the tennis image set indicates that the tennis ball to be received 1 is facing the left side of the tennis robot (from the perspective of the tennis robot), the rotation module is controlled to rotate counterclockwise. If the predicted motion trajectory of the tennis ball to be received 2 obtained based on the tennis image set indicates that the tennis ball to be received is facing the right side of the tennis robot (from the perspective of the tennis robot), the rotation module is controlled to rotate clockwise. At the same time, according to the control method of Figures 10 (a) and 10 (b), the rotation module is controlled to rotate according to the position of the tennis ball to be received in the tennis image set to ensure that the tennis ball to be received is near the center line of the image.

[0144] That is, assuming that the motion trajectory of the tennis ball 1 to be received is obtained according to the tennis ball image set acquired by the tennis robot at the initial position, the tennis robot moves according to the moving virtual trajectory 1, and controls the rotation module to rotate counterclockwise to ensure that when the tennis robot is in position 1, the center lines of the viewing angles of the first visible light camera and the second visible light camera can be aligned with the tennis ball 1 to be received, so as to ensure that the tennis ball 1 to be received is near the center line of the image. Assuming that the motion trajectory of the tennis ball 2 to be received is obtained according to the tennis ball image set acquired by the tennis robot at the initial position, the tennis robot moves according to the moving virtual trajectory 2, and controls the rotation module to rotate clockwise to ensure that when the tennis robot is in position 2, the center lines of the viewing angles of the first visible light camera and the second visible light camera can be aligned with the tennis ball 2 to be received, so as to ensure that the tennis ball 2 to be received is near the center line of the image.

[0145] In one embodiment, see the attached Fig.11 , attached Fig.11 The figure shows a flow chart of acquiring the second tennis image set according to the first tennis image set, the rotation angle and the motion information of the tennis robot in this embodiment.

[0146] The second tennis image set includes a second image group acquired by the first visible light camera and the second visible light camera at multiple moments during the movement of the tennis robot. In this embodiment, acquiring the second tennis image set according to the first tennis image set, the rotation angle and the motion information of the tennis robot includes the following steps S1101 to S1104.

[0147] Step S1101, obtaining a reference predicted motion trajectory of a tennis ball to be received according to a first tennis ball image set, a rotation angle and motion information of a tennis robot.

[0148] Exemplarily, the first coordinates of the tennis ball to be received at the corresponding moment in the first coordinate system are acquired according to the rotation angles corresponding to the plurality of moments in the first tennis image set and the first tennis image set.

[0149] The first coordinate is a three-dimensional coordinate system with the tennis robot as the origin.

[0150] For example, according to the first tennis image set, the position of the tennis ball measured using binocular ranging is (x pi ,y pi ,z pi ), the rotation angle is α i . Then the position of the tennis ball in the first coordinate system is x ci =x pi ×cos(α i )-z pi ×sin(α i ),y ci =y pi , z ci =x pi×sin(α i )+z pi ×cos(α i ).

[0151] According to the first coordinates of the tennis ball to be received at multiple moments in the first coordinate system and the position information at multiple moments, the second coordinates of the tennis ball to be received at the corresponding moments in the second coordinate system are obtained.

[0152] The second coordinate system is a three-dimensional coordinate system with any fixed point in the court as its origin.

[0153] Among them, the court refers to the venue where tennis robots play tennis.

[0154] Exemplarily, the position information includes the angular velocity and acceleration of the tennis robot. By integrating the angular velocity, the orientation angle θ of the tennis robot relative to the origin of the second coordinate system at time i can be obtained. i ; According to the acceleration, the coordinates of the tennis robot relative to the origin of the second coordinate system at time i can be obtained (x ri ,y ri , z ri ); According to the first coordinate (x ci ,y ci , z ci ), orientation angle θ i You can get the second coordinate (x gi ,y gi , z gi ), since the tennis robot always moves on the same horizontal plane, that is, the ground, there is no need to rotate the value of the y-axis. The formula for obtaining it can be expressed as: gi =x ci ×cos(θ i )-z ci ×sin(θ i )+x ri ;y gi =y ci ; gi =x ci ×sin(θ i) +z ci ×cos(θ i )+z ri .

[0155] The reference predicted motion trajectory can be obtained by obtaining the second coordinates of the tennis balls to be received at multiple moments in the second coordinate system according to the first tennis ball image set. The position of the tennis balls to be received at subsequent moments can be preliminarily predicted through the reference predicted motion trajectory.

[0156] Step S1102, controlling the movement of the mobile module of the tennis robot according to the reference predicted motion trajectory.

[0157] The second tennis image set includes a second image group acquired by the first visible light camera and the second visible light camera at multiple moments during the movement of the tennis robot.

[0158] The position of the tennis ball to be received in the court at a subsequent moment can be preliminarily predicted based on the reference predicted motion trajectory. By controlling the movement of the mobile module of the tennis robot based on the reference predicted motion trajectory, the first visible light camera and the second visible light camera can obtain more second image groups containing the tennis ball to be received during the movement of the tennis robot, thereby making a more accurate prediction of the ball receiving position.

[0159] Step S1103, controlling the rotation module to rotate according to the reference predicted motion trajectory, the rotation angle and the motion information to obtain the second image group, the rotation angle and the motion information corresponding to the last movement moment.

[0160] The last moving moment is any moment except the last moment in the moving process of the tennis robot.

[0161] Exemplarily, the first visible light camera and the second visible light camera respectively capture images at the first moving moment to the fifth moving moment during the movement of the tennis robot. The last moving moment may be the first moving moment, the second moving moment, the third moving moment or the fourth moving moment. Not limited thereto.

[0162] Step S1104, obtaining the second image group, rotation angle and motion information corresponding to the next moment of movement according to the second image group, rotation angle and motion information corresponding to the previous moment of movement, until obtaining the second image group corresponding to the last moment of movement.

[0163] The next moving moment is the first moment after the previous moving moment among the multiple moments in the moving process of the tennis robot.

[0164] The last moment of movement is the last moment of multiple moments in the movement process of the tennis robot.

[0165] Exemplarily, the first visible light camera and the second visible light camera respectively capture images at the first moving moment to the fifth moving moment during the movement of the tennis robot. When the last moving moment is the first moving moment, the next moving moment is the second moving moment; when the last moving moment is the second moving moment, the next moving moment is the third moving moment; when the last moving moment is the third moving moment, the next moving moment is the fourth moving moment. The last moving moment is the fifth moving moment. The second image group captured by the first visible light camera and the second visible light camera at the first moving moment to the fifth moving moment constitutes the second image set. Not limited to this.

[0166] In this embodiment, the second image group, rotation angle and motion information corresponding to the next moment of movement are obtained according to the second image group, rotation angle and motion information corresponding to the previous moment of movement, until the second image group corresponding to the last moment of movement is obtained. This can ensure that the first visible light camera and the second visible light camera can capture images containing the tennis ball to be received at the next moment of movement, and can more accurately predict the position of the tennis ball to be received at the next moment of movement than at the previous moment of movement. Therefore, the target predicted motion trajectory finally obtained can contain more accurate ball receiving position information, ensuring accurate ball receiving.

[0167] In one embodiment, the first visible light camera and the second visible light camera are both configured with a master-slave mode or a hard trigger mode, so that the time interval for the main control module in the tennis robot to receive images output by the first visible light camera and the second visible light camera is less than or equal to 1 ms.

[0168] In this embodiment, the first visible light camera and the second visible light camera are configured in a master-slave mode or a hard trigger mode so that the time interval between the images acquired by the two visible light cameras and received by the main control module is less than or equal to 1ms, thereby ensuring the accuracy of depth estimation of the position of the tennis ball to be received based on the images acquired by the first visible light camera and the second visible light camera.

[0169] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0170] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0171] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the application. It should be noted that, for a person of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A tennis robot, characterized in that: The tennis robot comprises a tennis robot body, a camera assembly, a hitting assembly, a sensor assembly, a moving module and a main control module; The camera assembly includes a rotating module, a first visible light camera and a second visible light camera, wherein the first visible light camera and the second visible light camera are arranged on the rotating module, and the rotating module is arranged on the tennis robot body; the rotating module is used to drive the first visible light camera and the second visible light camera to rotate, and output a rotation angle relative to a preset initial angle; The first visible light camera and the second visible light camera are used to collect a set of tennis ball images containing a tennis ball to be received; The sensor component is used to obtain the motion information of the tennis robot; The main control module is respectively connected to the first visible light camera, the second visible light camera, the rotation module, the hitting assembly, the mobile module and the sensor assembly, and is used to control the rotation of the rotation module according to the tennis image set, control the mobile module to move to the ball receiving position according to the rotation angle, the tennis image set and the motion information, and drive the hitting assembly to hit the tennis ball to be received.

2. The tennis robot according to claim 1, characterized in that: The ball striking assembly includes a robotic arm.

3. The tennis robot according to claim 2, characterized in that: The rotating module includes a hollow motor; Wherein, the support shaft of the mechanical arm is arranged in the hollow part of the hollow motor.

4. The tennis robot according to claim 2, characterized in that: The distance between the support axis center of the robotic arm and the rotation center of the rotation module is greater than or equal to 2 cm.

5. The tennis robot according to claim 1, characterized in that: The rotating module includes a camera bracket and a rotating motor; The camera bracket is used to fix the first visible light camera and the second visible light camera; The rotating motor is connected to the camera bracket and is disposed on the tennis robot body, and is used to drive the camera bracket, the first visible light camera and the second visible light camera to rotate and obtain the rotation angle.

6. The tennis robot according to claim 5, characterized in that: The hardness of the camera bracket is greater than the hardness of the tennis robot body.

7. The tennis robot according to claim 5, characterized in that: The rotating motor is provided with an encoder, and the encoder is used to obtain the rotation angle.

8. The tennis robot according to claim 1, characterized in that: The first height of the ball striking assembly in the height direction of the tennis robot body is greater than the second height of the camera assembly in the height direction of the tennis robot body.

9. The tennis robot according to claim 1, characterized in that: The angle between the optical axes of the first visible light camera and the second visible light camera and the ground is less than or equal to 30°.

10. The tennis robot according to claim 1, characterized in that: The longitudinal angles of the optical axes of the first visible light camera and the second visible light camera in space are both less than or equal to 15°.

11. The tennis robot according to claim 1, characterized in that: The first visible light camera and the second visible light camera are spaced apart by a distance greater than or equal to 12 cm.

12. The tennis robot according to claim 1, characterized in that: The field of view angle range of the first visible light camera and the second visible light camera is 20°~120°.

13. The tennis robot according to claim 1, characterized in that: The motion information includes acceleration information and angular velocity information; the sensor component includes an accelerometer and a gyroscope, and the accelerometer and the gyroscope are both electrically connected to the main control module; The accelerometer is used to obtain the acceleration information; The gyroscope is used to obtain the angular velocity information.

14. A control method, characterized in that: Used to control the tennis robot according to any one of claims 1 to 13; the control method comprises: receiving a set of tennis images of a tennis ball to be received captured by a first visible light camera and a second visible light camera of the tennis robot at multiple times; Receiving rotation angles corresponding to a plurality of moments in the tennis image set output by a rotation module of the tennis robot; Acquire a target predicted motion trajectory of the tennis ball to be received according to the tennis ball image set, the rotation angles corresponding to a plurality of moments, and the motion information of the tennis robot; The moving module is controlled to move to a ball receiving position according to the target predicted motion trajectory.

15. The control method according to claim 14, characterized in that: The tennis image set includes a first tennis image set and a second tennis image set; the first tennis image set includes a first image group respectively acquired by the first visible light camera and the second visible light camera at multiple moments; The receiving of the tennis image set of the tennis ball to be received collected by the first visible light camera and the second visible light camera of the tennis robot at multiple times includes: Receiving a first image group acquired by the first visible light camera and the second visible light camera of the tennis robot at a previous moment; the previous moment is any moment among the multiple moments except the last moment; controlling the rotation module to rotate according to the position information of the tennis ball to be received in the first image group acquired at the previous moment, so as to acquire the first image group corresponding to the next moment after the rotation, so that the first image groups corresponding to multiple moments constitute the first tennis ball image set; the next moment is the first moment after the previous moment among the multiple moments; The second tennis image set is acquired according to the first tennis image set, the rotation angle and the motion information of the tennis robot.

16. The control method according to claim 15, characterized in that: The step of controlling the rotation module to rotate according to the position information of the tennis ball to be received in the first image group acquired at the last moment includes: Acquire actual pixel values ​​of the tennis ball to be received in the first image group acquired at the last moment; When the actual pixel value is greater than the preset target pixel value, the position information indicates that the pixel is located on the left side, and the rotation module is controlled to rotate counterclockwise; When the actual pixel value is less than the preset target pixel value, the position information is located on the right side, and the rotation module is controlled to rotate clockwise.

17. The control method according to claim 15, characterized in that: Acquiring the second tennis image set according to the first tennis image set, the rotation angle, and the motion information of the tennis robot includes: Acquire a reference predicted motion trajectory of the tennis ball to be received according to the first tennis ball image set, the rotation angle and the motion information of the tennis robot; Controlling the movement of the mobile module of the tennis robot according to the reference predicted motion trajectory; the second tennis image set includes a second image group acquired by the first visible light camera and the second visible light camera at multiple moments during the movement of the tennis robot; Controlling the rotation module to rotate according to the reference predicted motion trajectory, the rotation angle and the motion information to obtain a second image group corresponding to the last moment of movement, the rotation angle and the motion information; the last moment of movement is any moment except the last moment in the multiple moments of the movement process of the tennis robot; According to the second image group, the rotation angle and the motion information corresponding to the previous movement moment, the second image group, the rotation angle and the motion information corresponding to the next movement moment are obtained until the second image group corresponding to the last movement moment is obtained; the next movement moment is the first moment after the previous movement moment among multiple moments in the movement process of the tennis robot; the last movement moment is the last moment among multiple moments in the movement process of the tennis robot.

18. The control method according to any one of claims 14 to 17, characterized in that: The first visible light camera and the second visible light camera are both configured with a master-slave mode or a hard trigger mode, so that the time interval for the main control module in the tennis robot to receive images output by the first visible light camera and the second visible light camera is less than or equal to 1ms.

Images