Football pitching machine and intelligent pitching control system thereof

Abstract

The invention provides a football pitching machine and an intelligent pitching control system thereof, and aims to realize intelligent pitching control in combination with a mechanical structure of the football pitching machine. The football pitching machine comprises a football pitching table, a pitching machine outer shell, a football placing inlet arc-shaped frame, a football conveying pipe network frame, a football arc-shaped ball outlet pipe, a pitching mechanism and a pitching table height adjusting mechanism. The intelligent serving control system comprises a central control unit, a serving speed control module, a serving angle control module, a serving frequency control module, a human-computer interaction interface and a sensor unit. The central control unit receives a user instruction and coordinates each module; the speed module adjusts the ball serving motor rotating speed control speed; the angle module cooperates with the height adjusting mechanism to adjust the pitching angle; the frequency module controls the football delivery speed to change the serving frequency. The sensor unit feeds back data in real time, precise control is achieved, different training requirements are met, and the football training efficiency and the serving accuracy and flexibility are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of football training equipment, and more specifically, to a football serving machine and its intelligent serving control system. Background Art

[0002] As one of the most popular sports globally, the scientific and efficient nature of football training is crucial for improving players' skills. During football training, the serving machine plays an indispensable role. It can provide continuous and stable incoming balls for players, simulating various scenarios in a game, which helps improve the training efficiency of players.

[0003] From the early simple manual serving devices to the relatively advanced electric serving machines today, the development process of serving machines has witnessed the continuous progress of football training equipment. Early manual serving machines required frequent manual operations, not only with high labor intensity but also with poor serving stability and continuity, unable to meet the needs of high-intensity training. With the development of technology, electric serving machines have gradually become popular. They use electricity to drive the serving mechanism and can achieve a certain degree of automated serving, greatly improving the serving efficiency and stability.

[0004] However, existing football serving machines still have many deficiencies. Most of the football serving machines on the market currently have a single function and lack intelligent control functions. In actual training, players at different levels, different training stages, and different training goals have different requirements for serving parameters. For example, beginners may need a slower serving speed and a lower serving frequency to have enough time to react and adjust their movements; while high-level players require a higher serving speed, more complex serving angles, and a faster serving frequency to simulate the high-intensity confrontation in a game. However, existing serving machines cannot flexibly adjust the serving speed, angle, and frequency parameters according to the training needs of players. They often can only provide a limited number of fixed serving modes and cannot implement personalized training programs. This results in players not being able to receive targeted training during the training process, and the training effect is greatly limited.

[0005] During the serving process of traditional serving machines, the transportation of footballs, the operation of the serving mechanism, and the adjustment of the height of the serving table often require manual intervention. In terms of the operation of the serving mechanism, the control of serving force and direction is not precise enough. In summary, existing football serving machines have many deficiencies in terms of function and operation and cannot meet the diverse needs of modern football training. Therefore, it is of great practical significance to develop a football serving machine and its intelligent serving control system that can achieve intelligent control, simple operation, and high precision. Therefore, we have made improvements in this regard and proposed a football serving machine and its intelligent serving control system. Summary of the Invention

[0006] The object of the present invention is to address the problems raised in the current background art. To achieve the above-mentioned invention object, the present invention provides the following technical solutions: A football serving machine, comprising a football serving table, the outer surface of the football serving table is provided with a serving machine housing, a football placing inlet arc-shaped frame is arranged on the side of the serving machine housing, the football placing inlet arc-shaped frame is connected to a football arc-shaped ball outlet pipe through a football conveying pipe network frame, the football arc-shaped ball outlet pipe is connected to a serving mechanism, and a serving table height adjusting mechanism is arranged below the football serving table.

[0007] As a preferred technical solution of the present invention, the serving mechanism includes a serving motor, a main rotating shaft, a main serving wheel, a conveyor belt, a secondary rotating shaft, and a secondary serving wheel.

[0008] As a preferred technical solution of the present invention, the serving motor is connected to the main rotating shaft, the main rotating shaft is connected to the main serving wheel through gear transmission, the main rotating shaft transmits power to the secondary rotating shaft through the conveyor belt, and the secondary rotating shaft is connected to the secondary serving wheel.

[0009] As a preferred technical solution of the present invention, the serving table height adjusting mechanism includes a height-adjusting parallelogram hinge frame, a parallelogram hinge frame screw cap, a height-adjusting screw rod, and an adjusting rotating shaft handle.

[0010] As a preferred technical solution of the present invention, a parallelogram hinge frame screw cap is arranged at the horizontal diagonal of the height-adjusting parallelogram hinge frame, the parallelogram hinge frame screw cap is matched with the height-adjusting screw rod, and an adjusting rotating shaft handle is arranged at the end of the height-adjusting screw rod.

[0011] As a preferred technical solution of the present invention, a support frame is arranged below the adjusting rotating shaft handle, a base is arranged below the support frame, and universal wheels are arranged at the four corners of the base.

[0012] An intelligent serving control system for a football serving machine, the football serving machine includes a football serving table, the outer surface of the football serving table is provided with a serving machine housing, a football placing inlet arc-shaped frame is arranged on the side of the serving machine housing, the football placing inlet arc-shaped frame is connected to a football arc-shaped ball outlet pipe through a football conveying pipe network frame, the football arc-shaped ball outlet pipe is connected to a serving mechanism, and a serving table height adjusting mechanism is arranged below the football serving table; the intelligent serving control system includes: A central control unit, as the core of the system, is used to receive user input commands and coordinate the control of each execution unit; A serving speed control module, connected to the serving motor of the serving mechanism, adjusts the rotation speed of the serving motor according to the command of the central control unit to control the serving speed; The serving angle control module, in cooperation with the serving table height adjustment mechanism, drives the height adjustment screw rod to rotate according to the instruction of the central control unit, changes the height of the serving table, and thus adjusts the serving angle. The serving frequency control module realizes the adjustment of the serving frequency by controlling the conveying speed of the football in the football conveying pipe network frame and the football arc-shaped ball outlet pipe.

[0013] As a preferred technical solution of the present invention, the serving mechanism includes a serving motor, a main rotating shaft, a main serving runner, a conveyor belt, a secondary rotating shaft, and a secondary serving runner; the serving motor is connected to the main rotating shaft, the main rotating shaft is connected to the main serving runner through gear transmission, the main rotating shaft transmits power to the secondary rotating shaft through the conveyor belt, and the secondary rotating shaft is connected to the secondary serving runner; the serving speed control module precisely adjusts the rotation speed of the serving motor by adjusting the input voltage or frequency of the serving motor.

[0014] As a preferred technical solution of the present invention, the serving table height adjustment mechanism includes a height adjustment parallelogram hinge frame, a parallelogram hinge frame screw cap, a height adjustment screw rod, and an adjustment rotating shaft handle; the parallelogram hinge frame screw cap is arranged at the horizontal diagonal of the height adjustment parallelogram hinge frame, the parallelogram hinge frame screw cap is matched with the height adjustment screw rod, and the end of the height adjustment screw rod is provided with an adjustment rotating shaft handle; the serving angle control module uses a stepping motor or a servo motor to drive the adjustment rotating shaft handle to rotate to change the height of the serving table.

[0015] As a preferred technical solution of the present invention, it further includes a human-computer interaction interface and a sensor unit; the human-computer interaction interface provides an operation platform for users, is used to input serving speed, angle, frequency parameters and select training modes, and displays the working state and relevant parameters of the serving machine; the sensor unit includes a speed sensor, an angle sensor, and a position sensor, which are respectively used to monitor the running state of the serving machine and the position of the football in real time, and feedback the detection data to the central control unit so that the central control unit can make adjustments and controls according to the actual situation.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The intelligent serving control system of the present invention combines the mechanical structure of the football serving machine and realizes the intelligent control of the serving process. Through the coordinated control of the central control unit on each control module, the serving speed, angle, and frequency can be precisely adjusted to meet the training needs of different players. At the same time, the real-time monitoring and feedback function of the sensor unit improves the accuracy and stability of serving. The setting of the human-computer interaction interface makes it more convenient and fast for users to operate and improves the training efficiency. In addition, the intelligent control of the serving table height adjustment mechanism further enhances the flexibility and adaptability of the serving machine. Brief Description of the Drawings

[0017] Figure 1 Schematic structural diagram provided by the present invention; Figure 2 Internal structural diagram provided by the present invention; Figure 3 Partial structural diagram provided by the present invention; Figure 4 Front view structural diagram provided by the present invention; Figure 5 Schematic structural diagram of the height-adjustable parallelogram hinge frame provided by the present invention.

[0018] Labels in the figure: 1, football tee; 2, outer housing of the serving machine; 3, arc-shaped frame of the football placement entrance; 4, football conveying pipe network frame; 5, arc-shaped football outlet pipe; 6, serving mechanism; 61, serving motor; 62, main rotating shaft; 63, main serving runner; 64, conveyor belt; 65, auxiliary rotating shaft; 66, auxiliary serving runner; 7, serving table height adjustment mechanism; 71, height-adjustable parallelogram hinge frame; 72, parallelogram hinge frame screw cap; 73, height-adjustment screw rod; 74, adjustment rotating shaft handle; 8, support frame; 9, base; 10, universal wheel. Specific embodiments

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention.

[0020] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the present invention claimed, but merely represents some embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention. It should be noted that, without conflict, the embodiments and the features and technical solutions in the embodiments of the present invention can be combined with each other. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0021] Embodiment 1: A football serving machine, comprising a football serving table 1, an outer surface of the football serving table 1 is provided with a serving machine housing 2, a side of the serving machine housing 2 is provided with a football placement entrance arc-shaped frame 3, the football placement entrance arc-shaped frame 3 is connected to a football arc-shaped ball outlet pipe 5 through a football conveying pipe network frame 4, the football arc-shaped ball outlet pipe 5 is connected to a serving mechanism 6, and a serving table height adjustment mechanism 7 is provided below the football serving table 1. The serving mechanism 6 includes a serving motor 61, a main rotating shaft 62, a main serving runner 63, a conveyor belt 64, a secondary rotating shaft 65, and a secondary serving runner 66. The serving motor 61 is connected to the main rotating shaft 62, the main rotating shaft 62 is connected to the main serving runner 63 through gear transmission, the main rotating shaft 62 transmits power to the secondary rotating shaft 65 through the conveyor belt 64, and the secondary rotating shaft 65 is connected to the secondary serving runner 66. The serving table height adjustment mechanism 7 includes a height adjustment parallelogram hinge frame 71, a parallelogram hinge frame screw cap 72, a height adjustment screw rod 73, and an adjustment rotating shaft handle 74. The horizontal diagonal of the height adjustment parallelogram hinge frame 71 is provided with the parallelogram hinge frame screw cap 72, the parallelogram hinge frame screw cap 72 cooperates with the height adjustment screw rod 73, and an end of the height adjustment screw rod 73 is provided with the adjustment rotating shaft handle 74. Below the adjustment rotating shaft handle 74 is provided a support frame 8, below the support frame 8 is provided a base 9, and universal wheels 10 are provided at four corners of the base 9.

[0022] An intelligent serving control system for a football serving machine, the football serving machine comprising a football serving table 1, an outer surface of the football serving table 1 is provided with a serving machine housing 2, a side of the serving machine housing 2 is provided with a football placement entrance arc-shaped frame 3, the football placement entrance arc-shaped frame 3 is connected to a football arc-shaped ball outlet pipe 5 through a football conveying pipe network frame 4, the football arc-shaped ball outlet pipe 5 is connected to a serving mechanism 6, and a serving table height adjustment mechanism 7 is provided below the football serving table 1; the intelligent serving control system includes: A central control unit, as the core of the system, for receiving user input instructions and coordinating the control of each execution unit; A serving speed control module, connected to the serving motor 61 of the serving mechanism 6, and adjusting the rotation speed of the serving motor 61 according to the instructions of the central control unit to control the serving speed; A serving angle control module, cooperating with the serving table height adjustment mechanism 7, driving the height adjustment screw rod 73 to rotate according to the instructions of the central control unit, and changing the height of the serving table to adjust the serving angle; A serving frequency control module, realizing the adjustment of the serving frequency by controlling the conveying speed of the football in the football conveying pipe network frame 4 and the football arc-shaped ball outlet pipe 5.

[0023] The serving mechanism 6 includes a serving motor 61, a main rotating shaft 62, a main serving runner 63, a conveyor belt 64, a secondary rotating shaft 65, and a secondary serving runner 66; the serving motor 61 is connected to the main rotating shaft 62, the main rotating shaft 62 is connected to the main serving runner 63 through gear transmission, the main rotating shaft 62 transmits power to the secondary rotating shaft 65 through the conveyor belt 64, and the secondary rotating shaft 65 is connected to the secondary serving runner 66; the serving speed control module precisely adjusts the rotation speed of the serving motor 61 by adjusting the input voltage or frequency of the serving motor 61.

[0024] The serving table height adjustment mechanism 7 includes a height adjustment parallelogram hinge frame 71, a parallelogram hinge frame screw cap 72, a height adjustment screw rod 73, and an adjustment rotating shaft handle 74; a parallelogram hinge frame screw cap 72 is provided at the horizontal diagonal of the height adjustment parallelogram hinge frame 71, the parallelogram hinge frame screw cap 72 cooperates with the height adjustment screw rod 73, and an adjustment rotating shaft handle 74 is provided at the end of the height adjustment screw rod 73; the serving angle control module uses a stepper motor or a servo motor to drive the adjustment rotating shaft handle 74 to rotate to change the height of the serving table.

[0025] It also includes a human-machine interaction interface and a sensor unit; the human-machine interaction interface provides an operation platform for users to input serving speed, angle, frequency parameters and select training modes, and displays the working status and relevant parameters of the serving machine; the sensor unit includes a speed sensor, an angle sensor, and a position sensor, which are respectively used to monitor the running status of the serving machine and the position of the football in real time, and feed the detection data back to the central control unit so that the central control unit can make adjustments and controls according to the actual situation.

[0026] Hardware construction 1. Assemble according to the mechanical structure of the above-mentioned football serving machine to ensure that all components are firmly installed and properly connected.

[0027] 2. Install the central control unit, such as a single-chip microcomputer or an industrial control computer, and connect it to each control module and sensor unit. Serial communication or CAN bus can be used for data transmission.

[0028] 3. Install the serving speed control module, connect the motor speed controller to the serving motor 61, and communicate with the central control unit. The rotation speed of the serving motor 61 can be adjusted through the motor speed controller to achieve the control of the serving speed.

[0029] 4. Install the serving angle control module, connect the stepper motor or servo motor to the adjustment rotating shaft handle 74, and communicate with the central control unit. By controlling the rotation of the motor, drive the height adjustment screw rod 73 to rotate, thereby changing the height of the serving table and realizing the adjustment of the serving angle.

[0030] 5. Install a serving frequency control module, install a conveying device (such as a conveyor belt or a ball-feeding wheel) in the football conveying pipe network rack 4, and connect its driving motor to the central control unit. By controlling the rotation speed of the driving motor, adjust the conveying speed of the football to achieve the adjustment of the serving frequency.

[0031] 6. Install a human-machine interaction interface, such as a touch screen or a button panel, and connect it to the central control unit. Users can input serving parameters and select training modes through the human-machine interaction interface.

[0032] 7. Install a sensor unit, install a speed sensor, an angle sensor, and a position sensor at their respective positions, and connect them to the central control unit. The sensor unit monitors the operating state of the serving machine and the position of the football in real time and feeds the data back to the central control unit.

[0033] Software programming 1. Write a control program for the central control unit to achieve coordinated control of each control module. The program analyzes the serving speed, angle, and frequency parameters according to the instructions input by the user and sends corresponding control signals to each control module.

[0034] 2. Write a program for the serving speed control module. According to the instructions of the central control unit, adjust the output parameters of the motor speed controller to achieve precise control of the rotation speed of the serving motor 61.

[0035] 3. Write a program for the serving angle control module. According to the instructions of the central control unit, control the rotation angle and direction of the stepping motor or the servo motor to achieve the adjustment of the height of the serving table.

[0036] 4. Write a program for the serving frequency control module. According to the instructions of the central control unit, adjust the rotation speed of the driving motor of the conveying device to control the conveying speed of the football and achieve the adjustment of the serving frequency.

[0037] 5. Write a program for the human-machine interaction interface to achieve the function of receiving and displaying the parameters input by the user. At the same time, display the working state and relevant parameters of the serving machine on the interface for the user to understand in real time.

[0038] 6. Write a data processing program for the sensor unit to filter and amplify the data collected by the sensor and send the processed data to the central control unit.

[0039] Python code algorithm for an intelligent serving control system of a football serving machine.

[0040] python import time class FootballServingSystem: def __init__(self): # Initialize the parameters of the serving machine self.speed = 20 # Serving speed, unit: m / s self.angle = 30 # Serving angle, unit: degrees self.frequency = 5 # Serving frequency, unit: times / minute self.is_running = False def set_speed(self, speed): # Set the serving speed if 10 <= speed <= 100: self.speed = speed print(f"The serving speed has been set to {speed} m / s") else: print("The speed setting is out of range. Please set it between 10 - 100 m / s") def set_angle(self, angle): # Set the serving angle if 0 <= angle <= 90: self.angle = angle print(f"The serving angle has been set to {angle} degrees") else: print("The angle setting is out of range. Please set it between 0 - 90 degrees") def set_frequency(self, frequency): # Set the serving frequency if 1 <= frequency <= 20: self.frequency = frequency print(f"The serving frequency has been set to {frequency} times / minute") else: print("The frequency setting is out of range. Please set it between 1 - 20 times / minute") def start_serving(self): # Start serving self.is_running = True print("The serving machine has been started") while self.is_running: # Simulate the serving action print(f"Serving at a speed of {self.speed} m / s and an angle of {self.angle} degrees") # Calculate the serving interval time based on the frequency interval = 60 / self.frequency time.sleep(interval) def stop_serving(self): # Stop serving self.is_running = False print("The serving machine has been stopped") # Example usage serving_system = FootballServingSystem serving_system.set_speed(30) serving_system.set_angle(45) serving_system.set_frequency(8) try: serving_system.start_serving except KeyboardInterrupt: serving_system.stop_serving Code explanation: 1. FootballServingSystem class: Initialize the default parameters of the serving machine, including serving speed, angle, and frequency, and set the running status to stopped.

[0041] The set_speed, set_angle, and set_frequency methods are used to set the corresponding parameters of the serving machine and check if the parameters are within a reasonable range.

[0042] The start_serving method starts the serving machine, enters a loop, serves the ball at the set frequency, calculates the interval time according to the frequency after each serve, and pauses.

[0043] The stop_serving method stops the operation of the serving machine.

[0044] 2. Example usage: Create an instance of the FootballServingSystem class and set the serving speed, angle, and frequency.

[0045] Call the start_serving method to start the serving machine, capture the user's interruption operation through the KeyboardInterrupt exception, and call the stop_serving method to stop the serving machine.

[0046] System debugging 1. Individually debug each control module and sensor unit to ensure that they can work properly. For example, debug the serving speed control module to check whether the rotation speed of the serving motor 61 can be adjusted according to the instruction; debug the sensor unit to check whether the data collected by the sensor is accurate and reliable.

[0047] 2. Conduct overall system debugging, connect all modules and units together for joint debugging. During the debugging process, according to different parameters input by the user, check whether the serving speed, angle, and frequency of the serving machine can be accurately adjusted, and whether the feedback data of the sensor unit is consistent with the actual situation.

[0048] 3. According to the problems encountered during the debugging process, make corresponding adjustments and optimizations to the hardware and software to ensure the stability and reliability of the system.

[0049] The above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above embodiments, the present invention is not limited to the above specific embodiments. Therefore, any modification or substitution of the present invention; and all technical solutions and their improvements that do not depart from the spirit and scope of the invention are covered by the scope of the claims of the present invention.

Claims

1. A football serving machine, comprising a football serving table (1), characterized in that, The outer surface of the described football tee (1) is provided with a ball feeder housing (2). A football placement entrance arc frame (3) is arranged on the side of the ball feeder housing (2). The football placement entrance arc frame (3) is connected to a football arc ball outlet pipe (5) through a football conveying pipe network frame (4). The football arc ball outlet pipe (5) is connected to a ball serving mechanism (6). A tee height adjustment mechanism (7) is arranged below the football tee (1).

2. The soccer ball serving machine according to claim 1, characterized in that, The described ball serving mechanism (6) includes a serving motor (61), a main rotating shaft (62), a main serving runner (63), a conveyor belt (64), a secondary rotating shaft (65), and a secondary serving runner (66).

3. The soccer ball serving machine according to claim 2, wherein, The serving motor (61) is connected to the main rotating shaft (62). The main rotating shaft (62) is connected to the main serving runner (63) through gear transmission. The main rotating shaft (62) transmits power to the secondary rotating shaft (65) through the conveyor belt (64). The secondary rotating shaft (65) is connected to the secondary serving runner (66).

4. A football serving machine according to claim 3, characterized in that, The described tee height adjustment mechanism (7) includes a height adjustment parallelogram hinge frame (71), a parallelogram hinge frame screw cap (72), a height adjustment screw rod (73), and an adjustment rotating shaft handle (74).

5. A football serving machine according to claim 4, characterized in that, The parallelogram hinge frame screw cap (72) is arranged at the horizontal diagonal of the height adjustment parallelogram hinge frame (71). The parallelogram hinge frame screw cap (72) cooperates with the height adjustment screw rod (73). The end of the height adjustment screw rod (73) is provided with an adjustment rotating shaft handle (74).

6. The soccer ball serving machine according to claim 5, wherein, An adjustment rotating shaft handle (74) is arranged below a support frame (8). A base (9) is arranged below the support frame (8). Universal wheels (10) are arranged at the four corners of the base (9).

7. An intelligent serving control system for a football serving machine. The football serving machine includes a football serving table (1), and the outer surface of the football serving table (1) is provided with a serving machine housing (2). A football placement inlet arc-shaped frame (3) is provided on the side of the serving machine housing (2). The football placement inlet arc-shaped frame (3) is connected to a football arc-shaped outlet pipe (5) through a football conveying pipe network frame (4). The football arc-shaped outlet pipe (5) is connected to a serving mechanism (6). A serving table height adjustment mechanism (7) is provided below the football serving table (1); characterized in that, The described intelligent ball serving control system includes: A central control unit, as the core of the system, for receiving user input commands and coordinately controlling each execution unit; A serving speed control module, connected to the serving motor (61) of the ball serving mechanism (6), and adjusting the rotation speed of the serving motor (61) according to the central control unit command to control the serving speed; A serving angle control module, cooperating with the tee height adjustment mechanism (7), driving the height adjustment screw rod (73) to rotate according to the central control unit command, changing the tee height to adjust the serving angle; A serving frequency control module, adjusting the serving frequency by controlling the conveying speed of the football in the football conveying pipe network frame (4) and the football arc ball outlet pipe (5).

8. The intelligent serving control system of a football serving machine according to claim 7, characterized in that, The serving mechanism (6) includes a serving motor (61), a main rotating shaft (62), a main serving runner (63), a conveyor belt (64), a secondary rotating shaft (65), and a secondary serving runner (66); the serving motor (61) is connected to the main rotating shaft (62), the main rotating shaft (62) is connected to the main serving runner (63) through gear transmission, the main rotating shaft (62) transmits power to the secondary rotating shaft (65) through the conveyor belt (64), and the secondary rotating shaft (65) is connected to the secondary serving runner (66); the serving speed control module adjusts the rotation speed of the serving motor (61) by adjusting the input voltage or frequency of the serving motor (61).

9. The intelligent serving control system of a football serving machine according to claim 8, characterized in that, The serving table height adjustment mechanism (7) includes a height adjustment parallelogram hinge frame (71), a parallelogram hinge frame screw cap (72), a height adjustment screw rod (73), and an adjustment rotating shaft handle (74); the parallelogram hinge frame screw cap (72) is horizontally diagonally arranged on the height adjustment parallelogram hinge frame (71), the parallelogram hinge frame screw cap (72) cooperates with the height adjustment screw rod (73), and the adjustment rotating shaft handle (74) is arranged at the end of the height adjustment screw rod (73); the serving angle control module drives the adjustment rotating shaft handle (74) to rotate by using a stepper motor or a servo motor to change the height of the serving table.

10. The intelligent serving control system of a football serving machine according to claim 9, characterized in that, It also includes a human-machine interaction interface and a sensor unit; the human-machine interaction interface provides an operation platform for users to input parameters such as the serving speed, angle, and frequency, and select a training mode, and displays the working status and relevant parameters of the serving machine; the sensor unit includes a speed sensor, an angle sensor, and a position sensor, which are respectively used to monitor the running status of the serving machine and the position of the football in real time, and feed back the detection data to the central control unit so that the central control unit can make adjustments and controls according to the actual situation.

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