A tennis ball catching device and tennis robot

Abstract

The application relates to the technical field of exercise equipment, in particular to a tennis ball catching device and a tennis robot. The tennis ball catching device comprises a main body structure and a surrounding structure, the main body structure is provided with a containing cavity, the surrounding structure is arranged on the main body structure, the top of the main body structure is provided with a guide part, the guide part is located at the entrance and extends from bottom to top in a direction away from the center of the entrance, and is used for guiding the tennis ball to enter the containing cavity from the catching space. The surrounding structure of the tennis ball catching device surrounds a catching space, and the tennis ball falls after being blocked by the surrounding structure after entering the catching space from the entrance. Since the top of the main body structure is provided with the guide part which extends from bottom to top in a direction away from the center of the entrance, the falling tennis ball can be guided to enter the containing cavity from the entrance. Therefore, under the action of the surrounding structure and the guide part, the tennis ball is more likely to enter the containing cavity, and the technical problem of low ball catching success rate of the current ball catching device is solved.

Description

Technical Field

[0001] This application relates to the field of sports equipment technology, and in particular to a tennis ball receiving device and a tennis robot. Background Technology

[0002] Tennis, as a fitness activity, plays a positive role in improving physical fitness, developing intelligence, and cultivating perseverance. However, during tennis training, the frequent need to retrieve the ball wastes a significant amount of energy for both athletes and coaches, leading to a decline in training quality and efficiency. While automatic ball-catching devices can predict the trajectory of the tennis ball and catch it automatically, the high launch height of the ball results in a low success rate for existing devices. Utility Model Content

[0003] This application provides a tennis ball receiving device to improve the technical problem of low ball receiving success rate of current receiving devices.

[0004] In addition, the purpose of this application is to provide a tennis robot using the above-mentioned ball-catching device.

[0005] In a first aspect, one embodiment provides a tennis ball receiving device, comprising:

[0006] The main structure has a receiving cavity, and the top of the receiving cavity has a drop inlet for the tennis ball to fall into;

[0007] And a barrier structure, which is arranged on the main structure, and the barrier structure encloses a ball-receiving space above the receiving cavity. The ball-receiving space has a ball-entry port for the tennis ball to enter. The barrier structure is used to block the tennis ball entering from the ball-entry port, so that the tennis ball falls into the receiving cavity after being blocked.

[0008] The top of the main structure is provided with a guide section, which is located at the drop entrance and extends from bottom to top in a direction away from the center of the drop entrance, so as to guide the tennis ball from the receiving space into the receiving cavity.

[0009] In another embodiment, the number of guide portions is two or more, and each guide portion is arranged at intervals along the outer periphery of the drop inlet.

[0010] In a further embodiment, the main structure includes at least three sidewalls connected in sequence, the drop-in opening formed by each sidewall is a polygonal opening, the guide portion is connected to the top edge of the sidewall, and the interval formed between adjacent guide portions is above the connection point of two adjacent sidewalls.

[0011] In another embodiment, the guide portion gradually decreases in size from bottom to top along the circumferential direction of the drop inlet.

[0012] In a further embodiment, the main structure includes a first sidewall, and the ball inlet is located above the first sidewall; the main structure also includes other sidewalls, which are connected to the first sidewall to form the receiving cavity, and the guide portion is located on the other sidewalls.

[0013] In another embodiment, the guide portion and the main structure are integrally bent and formed.

[0014] In another embodiment, the enclosure structure includes a support member and a flexible stop member connected to the support member, the support member being mounted on the main structure, and the flexible stop member being used to block the tennis ball.

[0015] In a further embodiment, the support member includes a first support member and a second support member, with the ball-in-the-hole formed between the first support member and the second support member. The enclosure structure also includes an elastic connector, with at least one of the first support member and the second support member connected to the flexible stop member via the elastic connector.

[0016] In another embodiment, the support member is a telescopic member, which extends or retracts the flexible stop member by telescopically extending or retracting it.

[0017] In a second aspect, one embodiment provides a tennis robot, including a tennis ball receiving device and a mobile robot, wherein the tennis ball receiving device is mounted on the mobile robot;

[0018] Tennis receiving device includes:

[0019] The main structure has a receiving cavity, and the top of the receiving cavity has a drop inlet for the tennis ball to fall into;

[0020] And a barrier structure, which is arranged on the main structure, and the barrier structure encloses a ball-receiving space above the receiving cavity. The ball-receiving space has a ball-entry port for the tennis ball to enter. The barrier structure is used to block the tennis ball entering from the ball-entry port, so that the tennis ball falls into the receiving cavity after being blocked.

[0021] The top of the main structure is provided with a guide section, which is located at the drop entrance and extends from bottom to top in a direction away from the center of the drop entrance, so as to guide the tennis ball from the receiving space into the receiving cavity.

[0022] In another embodiment, the number of guide portions is two or more, and each guide portion is arranged at intervals along the outer periphery of the drop inlet.

[0023] In a further embodiment, the main structure includes at least three sidewalls connected in sequence, the drop-in opening formed by each sidewall is a polygonal opening, the guide portion is connected to the top edge of the sidewall, and the interval formed between adjacent guide portions is above the connection point of two adjacent sidewalls.

[0024] In another embodiment, the guide portion gradually decreases in size from bottom to top along the circumferential direction of the drop inlet.

[0025] In a further embodiment, the main structure includes a first sidewall, and the ball inlet is located above the first sidewall; the main structure also includes other sidewalls, which are connected to the first sidewall to form the receiving cavity, and the guide portion is located on the other sidewalls.

[0026] In another embodiment, the guide portion and the main structure are integrally bent and formed.

[0027] In another embodiment, the enclosure structure includes a support member and a flexible stop member connected to the support member, the support member being mounted on the main structure, and the flexible stop member being used to block the tennis ball.

[0028] In a further embodiment, the support member includes a first support member and a second support member, with the ball-in-the-hole formed between the first support member and the second support member. The enclosure structure also includes an elastic connector, with at least one of the first support member and the second support member connected to the flexible stop member via the elastic connector.

[0029] In another embodiment, the support member is a telescopic member, which extends or retracts the flexible stop member by telescopically extending or retracting it.

[0030] According to the tennis ball receiving device of the above embodiment, the enclosure structure of the tennis ball receiving device forms a receiving space. After the tennis ball enters the receiving space through the ball inlet, it is blocked by the enclosure structure and falls. Since a guide part is provided at the top of the main structure, extending upwards away from the center of the ball inlet, the falling tennis ball can be guided from the ball inlet into the receiving cavity. Therefore, under the action of the enclosure structure and the guide part, the tennis ball enters the receiving cavity more easily, improving the technical problem of low ball receiving success rate in current receiving devices. Attached Figure Description

[0031] Figure 1 This is a diagram showing the state of the tennis robot after the enclosure structure has been deployed in one embodiment.

[0032] Figure 2 This is a diagram showing the state of the tennis robot after its enclosure structure is retracted in one embodiment.

[0033] Figure 3 This is a schematic diagram of the main structure of a tennis ball receiving device in one embodiment.

[0034] List of feature names corresponding to the reference numerals in the figure: 1. Mobile robot; 11. Visual recognition module; 12. Drive wheel; 2. Tennis ball receiving device; 21. Main structure; 211. Receiving cavity; 212. Guide part; 213. Side wall; 2131. First side wall; 2132. Second side wall; 2133. Third side wall; 2134. Fourth side wall; 214. Connecting buckle; 22. Enclosure structure; 221. Ball receiving space; 222. Ball inlet; 223. Support member; 2231. First support member; 2232. Second support member; 224. Flexible stop member; 225. Elastic connector; 226. Connecting ring; 23. Mounting part.

[0035] Explanation of reference numerals in parentheses in the accompanying drawings: The feature referred to by the reference numerals in parentheses in the accompanying drawings is the feature represented by both the number inside the parentheses and the number outside the parentheses. Detailed Implementation

[0036] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0037] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0038] In the description herein, it should be understood that the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection, an abutment, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] The embodiments described in the detailed implementation can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different embodiments. In order to avoid unnecessary repetition, the various possible combinations of the embodiments will not be described separately.

[0043] To address the low success rate of current tennis ball catching devices, this application provides a tennis ball catching device. The main structure of this device includes a barrier structure that obstructs the tennis ball, causing it to fall within the catching space. A guide section is also provided at the top of the main structure to guide the falling tennis ball towards the entrance of the receiving cavity, thus facilitating its entry into the cavity. The tennis robot and tennis ball catching device of this application are described in detail below with reference to the accompanying drawings.

[0044] Please refer to Figure 1 and Figure 2 In some embodiments, the tennis robot includes a mobile robot 1 and a tennis ball catching device 2, wherein the tennis ball catching device 2 is mounted on the mobile robot 1 and moves with the mobile robot 1. In some embodiments, the mobile robot 1 has a vision recognition module 11 and drive wheels 12. Based on the tennis ball trajectory recognized by the vision recognition module 11, the mobile robot 1 can drive the tennis ball catching device 2 to move, so that the tennis ball catching device 2 catches the tennis ball.

[0045] In some embodiments, please refer to Figures 1 to 3 The tennis ball receiving device 2 includes a main structure 21 and a barrier structure 22. The main structure 21 has a receiving cavity 211, and the top of the receiving cavity 211 has a drop-in port for the tennis ball to fall into. The barrier structure 22 is arranged on the main structure 21, and the barrier structure 22 encloses a receiving space 221 above the receiving cavity 211. The receiving space 221 has a ball-entry port 222 for the tennis ball to enter. The barrier structure 22 is used to block the tennis ball entering from the ball-entry port 222, so that the tennis ball falls into the receiving cavity 211 after being blocked. It is easier to catch the tennis ball through the barrier structure 22, and the kinetic energy of the tennis ball is consumed after being blocked, making it easier for it to fall directly into the receiving cavity 211 of the main structure 21.

[0046] To facilitate the smooth entry of the tennis ball into the receiving cavity 211, a guide section 212 is provided at the top of the main structure 21. The guide section 212 is located at the drop-in point and extends upwards away from the center of the drop-in point. This guide section 212 guides the tennis ball from the receiving space 221 into the receiving cavity 211, making it less likely for the ball to get stuck outside the drop-in point. Therefore, with the combined effect of the barrier structure 22 and the guide section 212, the tennis ball enters the receiving cavity 211 more easily, improving the current technical problem of low ball-receiving success rate in ball-receiving devices.

[0047] Regarding the guide section 212, please refer to some embodiments. Figure 3 The guide portion 212 is formed by bending. Specifically, the guide portion 212 and the main structure 21 are integrally bent, that is, the guide portion 212 is a folded edge that bends outward from the top of the main structure 21. Of course, in some other embodiments, the bent portion can also be formed and then fixed to the main structure 21 by welding, fasteners, or other methods.

[0048] To facilitate the processing of the guide portion 212, please refer to some embodiments. Figure 3 The number of guide parts 212 is two or more, and each guide part 212 is arranged at intervals along the outer periphery of the drop inlet. Compared with the continuous arrangement of guide parts 212, the arrangement of two or more guide parts 212 at intervals along the outer periphery of the drop inlet makes it easier to process them one by one and is less likely to cause stress concentration problems.

[0049] In some embodiments, please refer to Figure 1 and Figure 3 The main structure 21 includes at least three side walls 213 connected in sequence, and the entrance formed by each side wall 213 is a polygonal opening. For details, please refer to... Figures 1 to 3 The main structure 21 has four side walls 213, namely the first side wall 2131, the second side wall 2132, the third side wall 2133, and the fourth side wall 2134. Correspondingly, the entrance is a quadrilateral opening. In some other embodiments, the main structure 21 may have three or five side walls 213. Of course, the side walls 213 of the main structure 21 may also be cylindrical, in which case the number of side walls 213 is only one.

[0050] Since the connection between adjacent sidewalls 213 forms a corner, in order to facilitate the processing of the guide portion 212, in some embodiments, please refer to... Figure 1 and Figure 3 The guide portion 212 is connected to the top edge of the side wall 213, and the gap formed between adjacent guide portions 212 is located above the connection point of adjacent side walls 213. In this way, the gap between adjacent guide portions 212 can allow the guide portion 212 to avoid stress concentration areas, the guide portion 212 is not easy to deform, and it is not easy to break during molding, thus reducing the requirements for the molding process.

[0051] Specifically, in some embodiments, please refer to Figure 1 The main structure 21 includes a first sidewall 2131, with the ball inlet 222 located above the first sidewall 2131. The main structure 21 also includes other sidewalls, which are connected to the first sidewall 2131 to form a receiving cavity 211, with a guide portion 212 located on the other sidewalls. This design prevents the guide portion 212 from obstructing the ball inlet 222, and the larger size of the ball inlet 222 makes it easier for the tennis ball to enter the receiving space 221.

[0052] Specifically, regarding the remaining sidewalls and the first sidewall 2131, please refer to some embodiments. Figure 1 and Figure 3The remaining sidewalls include a second sidewall 2132, a third sidewall 2133, and a fourth sidewall 2134. Each of the second sidewall 2132, the third sidewall 2133, and the fourth sidewall 2134 is connected to a guide portion 212. The guide portion 212 on the third sidewall 2133 is arranged at intervals from the guide portions 212 on the other two sidewalls 213.

[0053] It should be noted that, in this embodiment, the first sidewall 213 refers to the portion of the sidewall of the main structure 21 located below the inlet 222. When the main structure 21 is a polygonal structure, there is a corner between the first sidewall 213 and the other sidewalls as a dividing feature. However, when the main structure 21 is cylindrical, the portion below the inlet 222 is the first sidewall 2131, and the portions not below the inlet 222 are the other sidewalls. There is no clear structural dividing feature between the first sidewall 2131 and the other sidewalls.

[0054] Regarding the shape of the guide portion 212, please refer to some embodiments. Figure 1 and Figure 3 The guide section 212 is elongated and extends circumferentially along the drop inlet. The height of the guide section 212 is vertical, and its width is horizontal. The circumferential dimension of the guide section 212 gradually decreases from bottom to top. That is, in the vertical direction, the width of the upper end of the guide section 212 is smaller than the width of the lower end, and the width gradually decreases from bottom to top. This results in obtuse angles at the two upper corners of the guide section 212, making it less likely to scratch the user. Furthermore, to further enhance safety, the two upper corners of the guide section 212 are rounded.

[0055] Regarding the enclosure structure 22, it is understood that the enclosure structure 22 is arranged above the main structure 21, with the ball-scoring opening 222 facing the direction from which the tennis ball flies. To reduce the difficulty of catching the tennis ball, the ball-scoring opening 222 faces to the horizontal direction. In some embodiments, to prevent the tennis ball from easily bouncing out of the receiving space 221, the top of the receiving space 221 is also partially blocked and covered by the enclosure structure 22.

[0056] To reduce the bounce of the tennis ball after it is blocked by the enclosure structure 22, some embodiments are described below. Figure 1 The enclosure structure 22 includes a support member 223 and a flexible stop member 224 connected to the support member 223. The support member 223 is installed on the main structure 21, and the flexible stop member 224 is used to block the tennis ball. After the flexible stop member 224 comes into contact with the tennis ball, it can better absorb the kinetic energy of the tennis ball, making the tennis ball less likely to bounce and fall in the receiving space 221.

[0057] Understandably, the flexible stop 224 is prone to deformation under stress. This deformation can be either elastic or non-recoverable. For example, the flexible stop 224 can be a mesh made of inelastic flexible rope or a mesh made of elastic flexible rope. Besides a mesh structure, the flexible stop can also be made of fabric. When the flexible stop 224 is made of elastic materials, materials such as nylon, polyester, silicone, rubber (natural / synthetic), TPU (thermoplastic polyurethane), and TPE (thermoplastic elastomer) can be used.

[0058] In some embodiments, the flexible stop 224 is an elastic mesh structure. The mesh structure uses less material, is lighter, and easier to use. When the tennis ball impacts the flexible stop 224, the impact force is dispersed across multiple nodes and lines of the mesh structure, preventing material damage caused by concentrated force. The mesh structure directly "catches" the ball through elastic deformation, making the tennis ball less prone to bouncing and allowing it to fall more smoothly. Furthermore, the mesh structure allows air to pass through, reducing wind resistance and making it less likely to be blown over in windy weather.

[0059] Specifically, in some embodiments, please refer to Figure 1 and Figure 3 The lower end of the flexible stop 224 is connected to the inner side of the side wall 213 of the main structure 21. Specifically, a connecting buckle 214 is provided on the inner side of the side wall 213 of the main structure 21, and the lower end of the flexible stop 224 is connected to the connecting buckle 214 through a connecting structure (such as a connecting rope, connecting strap, etc.). In this way, after the flexible stop 224 elastically deforms, it is not easy for excessively large gaps to appear between the flexible stop 224 and the main structure 21.

[0060] Furthermore, to better cushion the tennis ball, in some embodiments, please refer to... Figure 1 The support member 223 includes a first support member 2231 and a second support member 2232, forming a ball-in-the-pool opening 222 between the first support member 2231 and the second support member 2232. The enclosure structure 22 also includes an elastic connector 225, at least one of the first support member 2231 and the second support member 2232 being connected to a flexible stop member 224 via the elastic connector 225. When the tennis ball enters the receiving space 221 through the ball-in-the-pool opening 222, it comes into contact with the flexible stop member 224. The flexible stop member 224 deforms, pulling on the elastic connector 225. Under the pulling action of the flexible stop member 224, the elastic connector 225 elastically deforms, absorbing the kinetic energy of the tennis ball, thereby reducing the kinetic energy of the tennis ball and making it less likely for the tennis ball to bounce out of the receiving space 221. Specifically, in some embodiments, both the first support member 2231 and the second support member 2232 are connected to the flexible stop member 224 via the elastic connector 225.

[0061] Regarding the elastic connector 225, in some embodiments, the elastic connector 225 is an elastic pull rope. For ease of connection, a connecting ring 226 is connected to the flexible stop 224, and the elastic pull rope is connected to the connecting ring 226. In some other embodiments, the elastic connector 225 may also be a spring in addition to an elastic pull rope.

[0062] For ease of storage, please refer to some embodiments. Figure 1 and Figure 2 The support member 223 is a telescopic member. By extending, the support member 223 can unfold the enclosure structure 22, forming a ball-receiving space 221 inside. By shortening, the support member can retract the enclosure structure 22, reducing its volume and facilitating storage.

[0063] Therefore, before using the tennis ball receiving device 2 to receive the ball, the support members 223 need to be extended to unfold the enclosure structure 22. When not in use, the support members 223 need to be retracted to fold up the enclosure structure 22. At this time, part of the enclosure structure 22 can be stored in the receiving cavity 211. After the enclosure structure 22 is folded up, its volume is smaller and easier for the user to carry. Of course, in some other embodiments, the support member 223 can also be a fixed-length rod, in which case the support member 223 cannot be extended or retracted.

[0064] The number of support members 223 can be set as needed. For example, in some embodiments, please refer to... Figure 1 and Figure 2 There are four support members 223, which are fixed at the connection points of adjacent sidewalls 213 of the main structure 21. The main structure 21 is provided with mounting members 23 for installing the support members 223. In some embodiments, the mounting member 23 has a mounting hole, which can be a threaded hole into which the support member 223 is screwed. Alternatively, the mounting hole can be an insertion hole into which the support member 223 is directly inserted.

[0065] In some other embodiments, the number of support members 223 may also be two, namely the first support member 2231 and the second support member 2232. Of course, in some other embodiments, the number of support members 223 may also be three, five, or other feasible numbers.

[0066] In one embodiment of a tennis ball receiving device, the structure of the tennis ball receiving device is the same as that of the tennis ball receiving device described in any of the above embodiments, and will not be described in detail again.

[0067] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A tennis ball receiving device, characterized in that, include: The main structure has a receiving cavity, and the top of the receiving cavity has a drop inlet for the tennis ball to fall into; And a barrier structure, which is arranged on the main structure, and the barrier structure encloses a ball-receiving space above the receiving cavity. The ball-receiving space has a ball-entry port for the tennis ball to enter. The barrier structure is used to block the tennis ball entering from the ball-entry port, so that the tennis ball falls into the receiving cavity after being blocked. The top of the main structure is provided with a guide section, which is located at the drop entrance and extends from bottom to top in a direction away from the center of the drop entrance, so as to guide the tennis ball from the receiving space into the receiving cavity.

2. The tennis ball receiving device as described in claim 1, characterized in that, The number of guides is two or more, and each guide is arranged at intervals along the outer periphery of the drop inlet.

3. The tennis ball receiving device as described in claim 2, characterized in that, The main structure includes at least three sidewalls connected in sequence, and the drop-in opening formed by each sidewall is a polygonal opening. The guide part is connected to the top edge of the sidewall, and the gap formed between adjacent guide parts is above the connection point of two adjacent sidewalls.

4. The tennis ball receiving device as described in claim 1, characterized in that, The guide portion gradually decreases in size from bottom to top along the circumferential direction of the drop inlet.

5. The tennis ball receiving device as described in claim 2, characterized in that, The main structure includes a first sidewall, and the ball inlet is located above the first sidewall; the main structure also includes other sidewalls, which are connected to the first sidewall to form the receiving cavity, and the guide portion is located on the other sidewalls.

6. The tennis ball receiving device according to any one of claims 1-5, characterized in that, The guide section and the main structure are integrally bent and formed.

7. The tennis ball receiving device according to any one of claims 1-5, characterized in that, The enclosure structure includes a support member and a flexible stop member connected to the support member. The support member is installed on the main structure, and the flexible stop member is used to block the tennis ball.

8. The tennis ball receiving device as described in claim 7, characterized in that, The support includes a first support and a second support, with the ball-in-the-hole formed between the first support and the second support. The enclosure structure also includes an elastic connector, with at least one of the first support and the second support connected to the flexible stop via the elastic connector.

9. The tennis ball receiving device as described in claim 7, characterized in that, The support member is a telescopic member, which extends or retracts the flexible stop member.

10. A tennis robot, characterized in that, It includes a mobile robot and a tennis ball receiving device as described in any one of claims 1-9, wherein the tennis ball receiving device is mounted on the mobile robot.

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