Tennis robot
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- WOCAO TECH (SHENZHEN) CO LTD
- Filing Date
- 2024-12-10
- Publication Date
- 2026-08-07
AI Technical Summary
[0004]然而，现有的网球机器人难以把控发球时机，陪练效果不佳
Smart Images
Figure CN224598699U_ABST
Abstract
Description
[0001] This application is a divisional application of Chinese patent application No. 2024230380973, entitled "Serving Device and Tennis Robot" filed on December 10, 2024. Technical Field
[0002] This application relates to the field of tennis robot technology, and in particular to tennis robots. Background Technology
[0003] With the development of tennis robot technology, many tennis robots capable of serving automatically have emerged, serving the ball automatically for training purposes.
[0004] However, existing tennis robots struggle to control the timing of their serves, resulting in poor training effectiveness. Utility Model Content
[0005] Therefore, it is necessary to provide a tennis robot to address the aforementioned technical problems.
[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:
[0007] A tennis robot includes a ball-striking component, a ball-serving component, and a ball-receiving component;
[0008] The ball lowering assembly includes a ball lowering cylinder and a ball rotating module; the ball rotating module has multiple ball positions;
[0009] The ball-dropping assembly is used in conjunction with the ball-receiving assembly. The ball-receiving assembly receives the tennis ball and transfers it to the ball-dropping tube, allowing the tennis ball served by the serving assembly to be retrieved by the ball-receiving assembly. Simultaneously, the retrieved tennis ball can fall onto multiple ball positions for re-serving by the serving assembly; and / or, the ball-receiving assembly receives the first tennis ball served by the user, and simultaneously, the tennis robot needs to launch the second tennis ball.
[0010] The tennis robot provided in this application can play against a user. For example, the tennis robot includes a receiving component and a serving component. The receiving component receives the first tennis ball served by the user. Simultaneously, the tennis robot launches a second tennis ball, thus enabling a tennis exchange with the user. A ball-receiving component can work in conjunction with the receiving component. The receiving component transfers the received ball to a ball-receiving tube, allowing the tennis ball served by the serving component to be retrieved. Simultaneously, the retrieved tennis ball falls to multiple positions on the ball-spinning module, where it can be re-served by the serving component, achieving tennis ball recycling.
[0011] In one embodiment, the tennis robot further includes a sensing component and a controller, the sensing component being configured to output a first detection signal to the controller upon detecting a tennis ball at a target ball position; the target ball position is one of a plurality of ball positions;
[0012] The bottom of the lower ball tube is provided with a tennis ball through hole, and the ball rotating module is embedded in the lower ball tube;
[0013] The controller is electrically connected to the sensing component and the ball-spinning module respectively, and is used to control the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball through hole to the serving component when the first detection signal is received. The serving component is used to launch the falling tennis ball when a tennis ball is falling through the tennis ball through hole.
[0014] In one embodiment, the tennis robot further includes a mobile device electrically connected to the controller. The controller is also configured to control the mobile device to move to a target position. When the mobile device moves to the target position, it drives the sensing component to detect the target ball position. Upon receiving the first detection signal, it controls the ball-spinning module to drop the tennis ball on the target position through the tennis ball through-hole to the serving component.
[0015] In one embodiment, when the tennis robot moves to the target position, the controller receives a corresponding electrical signal. At this time, the first gating circuit configured in the controller selects the connection between the first driving circuit and the sensing component under the action of the corresponding electrical signal. The first driving circuit sends a first driving electrical signal to the sensing component through the first gating circuit to drive the sensing component to start working and realize the detection of the target ball position.
[0016] In one embodiment, upon receiving a first detection signal, the second gating circuit built into the controller selects the connection between the second drive circuit and the ball-spinning module under the action of the first detection signal. The second drive circuit sends a second drive signal to the ball-spinning module through the second gating circuit to drive the ball-spinning module to start working and control the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball hole to the serving assembly.
[0017] In one embodiment, the ball-rotating module includes a ball-rotating motor and a ball-rotating cylinder, wherein the ball-rotating motor is electrically connected to the ball-rotating cylinder and the controller, respectively;
[0018] The sensing component is also used to output a second detection signal when it detects that there is no tennis ball at the target ball position;
[0019] The controller is used to drive the ball-rotating motor to control the rotation of the ball-rotating cylinder when the second detection signal is received, until a tennis ball is at the target ball position.
[0020] In one embodiment, the ball-spinning module includes a ball-spinning cylinder, a ball-blocking plate, and a ball-blocking motor. The ball-spinning cylinder has multiple ball positions. The rotating end of the ball-blocking plate is connected to the ball-blocking motor, and the ball-blocking plate is located between the tennis ball through-hole and the serving assembly. The sensing assembly is located on the side of the ball-blocking plate opposite to the tennis ball through-hole.
[0021] The target ball position includes the ball position corresponding to the position of the ball deflector;
[0022] The controller is used to drive the ball-blocking motor to rotate the ball-blocking plate around the rotating end when the first detection signal is received, so that the tennis ball on the target ball position falls into the serving assembly through the tennis ball through hole.
[0023] In one embodiment, the sensing component is further configured to output a second detection signal when there is no tennis ball at the ball position corresponding to the ball-blocking plate position; the ball-spinning module further includes a ball-spinning motor connected to the ball-spinning cylinder and the controller;
[0024] The controller is used to drive the ball-rotating motor to control the ball-rotating cylinder to rotate when the second detection signal is received, until there is a tennis ball at the ball position corresponding to the position of the ball-blocking plate.
[0025] In one embodiment, the sensing component is positioned at any location capable of detecting whether a tennis ball is present in the target ball position.
[0026] In one embodiment, the sensing component includes any one of an infrared sensor, a gravity sensor, and an ultrasonic sensor.
[0027] In one embodiment, the ball-spinning module further includes a ball-limiting plate disposed on the side of the lower ball tube opposite to the serving assembly. The position of the ball-limiting plate corresponds to the position of the tennis ball through-hole, and is used to limit the number of tennis balls on the ball position corresponding to the position of the tennis ball through-hole to one.
[0028] In one embodiment, the tennis robot further includes a buffer structure disposed on the side of the lower ball tube opposite to the serving assembly, for cushioning the tennis ball falling into the lower ball tube. Attached Figure Description
[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0030] Figure 1 This is a schematic diagram of the ball-serving device in one embodiment of this application;
[0031] Figure 2 This is one of the structural schematic diagrams of the lower ball assembly in one embodiment of this application;
[0032] Figure 3 This is a second schematic diagram of the lower ball assembly in one embodiment of this application.
[0033] Reference numerals: 100: Ball serving device; 110: Ball receiving assembly; 111: Ball receiving tube; 1111: Tennis ball through hole; 112: Ball spinning module; 1121: Ball position; 1122: Ball spinning tube; 1123: Ball blocking plate; 1124: Ball blocking motor; 1125: Ball spinning motor; 120: Sensing assembly; 130: Ball serving assembly; 140: Controller. Detailed Implementation
[0034] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0035] In the description of this application, 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", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are 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, and therefore should not be construed as a limitation of this application.
[0036] 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0037] 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 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.
[0038] 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.
[0039] The tennis robot in this application can play against a user. For example, the tennis robot includes a receiving device and a serving device. The receiving device receives the first tennis ball served by the user, and simultaneously, the tennis robot needs to launch a second tennis ball, thus enabling a tennis exchange with the user. Existing tennis robots struggle to launch the second tennis ball in a timely manner and cannot accurately control the timing of the serve.
[0040] Based on this, this application provides a ball-serving device 100, see attached document. Figure 1 and attached Figure 2 , attached Figure 1 A schematic diagram of the serving device 100 in this embodiment is shown; Appendix Figure 2 One of the structural schematic diagrams of the lower ball assembly 110 in this embodiment is shown, wherein... Figure 2 The lower tube 111 is illustrated by having four ball positions 1121. In other embodiments, the number of ball positions in the lower tube 111 may be other than the example shown in the accompanying drawings.
[0041] The serving device 100 in this embodiment includes a ball-dropping assembly 110, a sensing assembly 120, a serving assembly 130, and a controller 140. The ball-dropping assembly 110 includes a ball-dropping tube 111 and a ball-rotating module 112. The bottom of the ball-dropping tube 111 is provided with a tennis ball through-hole 1111. The ball-rotating module 112 is embedded in the ball-dropping tube 111 and has multiple ball positions 1121. The sensing assembly 120 is used to output a first detection signal to the controller 140 when a tennis ball is detected at a target ball position. The target ball position is any one of the multiple ball positions 1121. The serving assembly 130 is used to launch a falling tennis ball when a tennis ball is falling through the tennis ball through-hole 1111. The controller 140 is electrically connected to the sensing assembly 120 and the ball-rotating module 112 and is used to control the ball-rotating module 112 to drop the tennis ball on the target ball position through the tennis ball through-hole 1111 to the serving assembly 130 upon receiving the first detection signal.
[0042] The ball-dropping assembly 110 can be used in conjunction with other devices to drop the tennis ball to the serving assembly 130. For example, the ball-dropping assembly 110 can be used in conjunction with the receiving assembly, which transmits the received ball to the ball-dropping tube 111, so that the tennis ball served by the serving assembly 130 can be retrieved by the receiving assembly. At the same time, the retrieved tennis ball can fall onto multiple ball positions 1121 of the ball-spinning module 112, so that it can be sent again by the serving assembly 130, thereby realizing the recycling of the tennis ball.
[0043] The sensing component 120 can be positioned at any location capable of detecting whether a tennis ball is in the target ball position. For example, the sensing component 120 can be located at the bottom of the ball-spinning module 112 and correspond to the position of the target ball position.
[0044] In this embodiment, after the controller 140 confirms that there is a tennis ball at the target ball position through the first detection signal, it controls the ball-rotating module 112 to drop the tennis ball at the target ball position through the tennis ball through hole 1111 to the serving assembly 130, thereby achieving precise control of the serving timing and avoiding the instability of the serving time caused by the ball-rotating module 112 rotating on its own to drop the tennis ball at position 1121 through the tennis ball through hole 1111.
[0045] In one embodiment, the controller can also be used to control the mobile device of the tennis robot to move to the target position. When it moves to the target position, it drives the sensing component to detect the target ball position. Upon receiving a first detection signal, it controls the ball-spinning module to drop the tennis ball on the target position through the tennis ball through hole to the serving component.
[0046] For example, the target position refers to the location where the tennis robot can catch the tennis ball. When the robot moves to the target position, the controller receives a corresponding electrical signal. At this time, the first gating circuit configured in the controller selects the connection between the first driving circuit (which can be an internal circuit of the controller or an external circuit connected to the gating circuit in the controller) and the sensing component under the action of the corresponding electrical signal. The first driving circuit sends a first driving electrical signal to the sensing component through the first gating circuit to drive the sensing component to start working and realize the detection of the target ball position. When the first detection signal is received, the second gating circuit built into the controller selects the connection between the second driving circuit (which can be an internal circuit of the controller or an external circuit connected to the gating circuit in the controller) and the ball-spinning module under the action of the first detection signal. The second driving circuit sends a second driving signal to the ball-spinning module through the second gating circuit to drive the ball-spinning module to start working and control the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball hole to the serving component. In this embodiment, it can be ensured that the serving device serves the tennis ball at the same time as catching the ball, realizing controllable serving and improving the immediacy of serving.
[0047] In one embodiment, the controller is further configured to, upon receiving a first detection signal and an externally input serve signal, control the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball through-hole to the serve assembly.
[0048] The serve signal is used to indicate that a tennis ball needs to be served to the opponent. At the same time, the first detection signal indicates that there is a tennis ball at the target position, thus meeting the serve conditions. At this time, the controller controls the ball spinning module to drop the tennis ball on the target position through the tennis ball through hole to the serve component, which can realize on-demand serve and improve the playing experience.
[0049] In one embodiment, the ball-spinning module includes a ball-spinning motor and a ball-spinning cylinder. The ball-spinning motor is electrically connected to the ball-spinning cylinder and a controller, respectively. The ball-spinning motor is used to control the rotation of the ball-spinning cylinder so that the positions of multiple balls in the ball-spinning cylinder relative to the tennis ball holes change.
[0050] The controller is used to drive the ball-rotating motor to control the rotation of the ball-rotating cylinder when it receives the first detection signal, so that the position of the target ball position corresponds to the position of the tennis ball through hole, so that the tennis ball on the target ball position falls into the serving assembly through the tennis ball through hole.
[0051] The ball-rotating motor can be any structure capable of providing rotational power to the ball-rotating cylinder. For example, the ball-rotating motor can be a ball-rotating servo motor. In practical applications, the type of ball-rotating motor can be flexibly configured according to actual needs, and is not limited to the examples above.
[0052] In this embodiment, the controller drives the ball-rotating motor to control the rotation of the ball-rotating cylinder, thereby rotating the target ball to the position corresponding to the through hole of the tennis ball, thus achieving a precise serve to the tennis ball on the target ball.
[0053] Specifically, the controller can flexibly select different drive circuits to control the rotation angle of the ball-spinning cylinder by driving the ball-spinning motor. For example, the controller outputs a drive signal of a preset frequency to the ball-spinning motor, enabling the motor to control the ball-spinning cylinder to rotate by a preset angle within a time period corresponding to the preset frequency. This preset angle can be the angle corresponding to the rotation of one ball position. For instance, if the target ball position is adjacent to the through-hole of the tennis ball, then within one frequency cycle, the drive signal is output to drive the ball-spinning motor to control the ball-spinning cylinder to rotate by the preset angle.
[0054] Another example is the use of a Hall effect sensor within the ball-spinning cylinder to detect the angle of the target ball relative to the tennis ball's aperture in real time. This angle is represented by an angle detection electrical signal. A comparator compares this angle detection signal with a target electrical signal, which indicates that the target ball is positioned corresponding to the tennis ball's aperture. When the angle detection signal is less than or equal to the target signal, it indicates that the target ball has rotated to the position corresponding to the tennis ball's aperture. The controller then stops driving the ball-spinning motor, thereby controlling the precise descent of the tennis ball from the target position. In practical applications, the controller can drive the ball-spinning motor to control the rotation angle of the ball-spinning cylinder in other ways, not limited to the examples described above.
[0055] In one embodiment, the target ball position includes the ball position adjacent to the ball position corresponding to the tennis ball hole.
[0056] In this embodiment, the target ball position is adjacent to the ball position corresponding to the tennis ball through hole, which can reduce the rotation angle of the ball rotating tube, and drop the tennis ball on the ball rotating tube to the serving assembly more quickly, thereby increasing the serving speed.
[0057] In one embodiment, see Appendix Figure 2 and attached Figure 3 , attached Figure 3 The second schematic diagram of the lower ball assembly 110 is shown.
[0058] The ball-spinning module 112 in this embodiment includes a ball-spinning cylinder 1122, a ball-blocking plate 1123, and a ball-blocking motor 1124. The ball-spinning cylinder 1122 is provided with multiple ball positions 1121. The rotating end of the ball-blocking plate 1123 is connected to the ball-blocking motor 1124, and the ball-blocking plate 1123 is located between the tennis ball through hole and the ball-serving assembly 130. The sensing assembly 120 is located on the side of the ball-blocking plate 1123 facing away from the tennis ball through hole.
[0059] Among them, the target ball position includes the ball position corresponding to the position of the ball blocking plate 1123.
[0060] The controller 140 is used to drive the ball-blocking motor 1124 to rotate the ball-blocking plate 1123 around the rotating end when it receives the first detection signal, so that the tennis ball on the target ball position falls through the tennis ball through hole to the serving assembly 130.
[0061] In this embodiment, the timing of the tennis ball's descent from the target position is limited by the ball-blocking plate 1123. When the sensing component 120 detects a tennis ball in the target position on the ball-blocking plate 1123, the ball-blocking motor 1124 is driven to control the ball-blocking plate 1123 to rotate around its rotating end in its plane, thereby releasing the tennis ball from the target position. This allows for precise control of the serving timing and enables rapid serves.
[0062] In one embodiment, the sensing component 120 is also configured to output a second detection signal when there is no tennis ball on the ball position 1121 corresponding to the position of the ball stop plate 1123; the ball rotation module 112 also includes a ball rotation motor 1125, which is connected to the ball rotation cylinder 1122 and the controller 140.
[0063] The controller 140 is used to drive the ball-rotating motor 1125 to control the ball-rotating cylinder 1122 to rotate when a second detection signal is received, until there is a tennis ball at the position corresponding to the ball-blocking plate 1123.
[0064] The second detection signal can be an electrical signal with a different level than the first detection signal. For example, if the second detection signal is a low-level signal, the first detection signal can be a high-level signal. Conversely, if the second detection signal is a high-level signal, the first detection signal can be a low-level signal.
[0065] In this embodiment, when the sensing component 120 detects that there is no tennis ball at the target ball position corresponding to the ball blocking plate 1123, the controller 140 drives the ball rotating motor 1125 to control the ball rotating cylinder 1122 to rotate until there is a tennis ball at the ball position 1121 corresponding to the ball blocking plate 1123. At this time, the sensing component 120 outputs the first detection signal, and the controller 140 drives the ball blocking motor 1124 to control the ball blocking plate 1123 to rotate, so that the tennis ball at the ball position 1121 corresponding to the ball blocking plate 1123 falls to the serving component 130.
[0066] In one embodiment, the ball-spinning module further includes a ball-limiting plate disposed on the side of the lower ball tube away from the ball-serving assembly. The position of the ball-limiting plate corresponds to the position of the tennis ball through hole, and is used to limit the number of tennis balls on the ball position corresponding to the position of the tennis ball through hole to 1.
[0067] The height of the ball-limiting plate from the bottom of the lower ball tube is slightly greater than the diameter of the tennis ball. This can be flexibly set as needed, and is not limited in this embodiment. Based on this, it can be ensured that tennis balls in other positions have sufficient height to rotate and land at the position corresponding to the tennis ball's through-hole.
[0068] In this embodiment, the number of tennis balls passing through the tennis ball holes is limited by the ball limiting plate to prevent multiple tennis balls from falling at the same time, which would result in multiple tennis balls being launched at once and affect the playing experience.
[0069] In one embodiment, the sensing component includes any one of an infrared sensor, a gravity sensor, and an ultrasonic sensor.
[0070] In this embodiment, the detection of whether the tennis ball is in the target position can be achieved by using any one of the infrared sensor, gravity sensor, and ultrasonic sensor, ensuring the feasibility and accuracy of the detection.
[0071] In practical applications, the sensing component can also be other sensors or sensing circuits, and is not limited to the examples mentioned above.
[0072] In one embodiment, the serving device further includes a buffer structure disposed on the side of the lower tube opposite to the serving assembly, for cushioning the tennis ball falling into the lower tube.
[0073] The cushioning structure can be made of any material capable of slowing down the falling speed of the tennis ball. For example, the cushioning structure can be made of foam, but is not limited to this.
[0074] In this embodiment, by setting a buffer structure on the side of the lower ball tube away from the ball serving assembly, the speed at which the tennis ball falls freely when the lower ball tube receives the tennis ball can be limited, the vibration of the tennis ball on the lower ball tube can be reduced, and the tennis ball can be ensured to fall accurately onto the ball spinning module, thereby improving the consistency of the serving position and timing.
[0075] In one embodiment, the difference between the diameter of the tennis ball through-hole and the diameter of a single tennis ball satisfies a preset condition, allowing a single tennis ball to pass through the tennis ball through-hole.
[0076] The preset condition can be understood as the condition when a tennis ball just passes through. In practical applications, the difference between the diameter of the tennis ball through-hole and the diameter of a single tennis ball can be flexibly set as needed. For example, the difference between the diameter of the tennis ball through-hole and the diameter of a single tennis ball can be less than or equal to 5mm, but it is not limited to this.
[0077] In this embodiment, the difference between the diameter of the tennis ball through hole and the diameter of a single tennis ball meets a preset condition, so that the tennis ball through hole can pass through a single tennis ball, avoiding multiple tennis balls falling at the same time, which could cause the serving component to jam, or the serving component to serve multiple tennis balls at once, affecting the playing experience.
[0078] In one embodiment, this application also provides a tennis robot, including the serving device of any of the above embodiments.
[0079] The tennis robot in this embodiment, through the serving device in any of the above embodiments, can ensure that the timing of the serve is controllable and improve the accuracy of the serve.
[0080] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.
[0081] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the appended claims.
Claims
1. A tennis robot, characterized in that, Includes ball-dropping components, ball-serving components, and ball-receiving components; The ball lowering assembly includes a ball lowering cylinder and a ball rotating module; the ball rotating module has multiple ball positions; The ball-dropping assembly is used in conjunction with the ball-receiving assembly. The ball-receiving assembly receives the tennis ball and transfers it to the ball-dropping tube, allowing the tennis ball served by the serving assembly to be retrieved by the ball-receiving assembly. Simultaneously, the retrieved tennis ball can fall onto multiple ball positions for re-serving by the serving assembly; and / or, the ball-receiving assembly receives the first tennis ball served by the user, and simultaneously, the tennis robot needs to launch the second tennis ball.
2. The tennis robot according to claim 1, characterized in that, The tennis robot also includes a sensing component and a controller. The sensing component is used to output a first detection signal to the controller when it detects a tennis ball at a target ball position. The target ball position is one of a plurality of ball positions. The bottom of the lower ball tube is provided with a tennis ball through hole, and the ball rotating module is embedded in the lower ball tube; The controller is electrically connected to the sensing component and the ball-spinning module respectively, and is used to control the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball through hole to the serving component when the first detection signal is received. The serving component is used to launch the falling tennis ball when a tennis ball is falling through the tennis ball through hole.
3. The tennis robot according to claim 2, characterized in that, It also includes a mobile device electrically connected to the controller. The controller is further configured to control the mobile device to move to a target position. When the mobile device moves to the target position, it drives the sensing component to detect the target ball position. Upon receiving the first detection signal, it controls the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball through-hole to the serving component.
4. The tennis robot according to claim 2, characterized in that: When the tennis robot moves to the target position, the controller receives a corresponding electrical signal. At this time, the first gating circuit configured in the controller selects the connection between the first driving circuit and the sensing component under the action of the corresponding electrical signal. The first driving circuit sends a first driving electrical signal to the sensing component through the first gating circuit to drive the sensing component to start working and realize the detection of the target ball position.
5. The tennis robot according to claim 4, characterized in that: Upon receiving the first detection signal, the second gating circuit built into the controller selects the connection between the second drive circuit and the ball-spinning module under the action of the first detection signal. The second drive circuit sends a second drive signal to the ball-spinning module through the second gating circuit to drive the ball-spinning module to start working and control the ball-spinning module to drop the tennis ball on the target ball position through the tennis ball hole to the serving assembly.
6. The tennis robot according to claim 2, characterized in that, The ball-rotating module includes a ball-rotating motor and a ball-rotating cylinder, and the ball-rotating motor is electrically connected to the ball-rotating cylinder and the controller, respectively. The sensing component is also used to output a second detection signal when it detects that there is no tennis ball at the target ball position; The controller is used to drive the ball-rotating motor to control the rotation of the ball-rotating cylinder when the second detection signal is received, until a tennis ball is at the target ball position.
7. The tennis robot according to claim 2, characterized in that, The ball-spinning module includes a ball-spinning cylinder, a ball-blocking plate, and a ball-blocking motor. The ball-spinning cylinder has multiple ball positions. The rotating end of the ball-blocking plate is connected to the ball-blocking motor, and the ball-blocking plate is located between the tennis ball through hole and the serving assembly. The sensing assembly is located on the side of the ball-blocking plate opposite to the tennis ball through hole. The target ball position includes the ball position corresponding to the position of the ball deflector; The controller is used to drive the ball-blocking motor to rotate the ball-blocking plate around the rotating end when the first detection signal is received, so that the tennis ball on the target ball position falls into the serving assembly through the tennis ball through hole.
8. The tennis robot according to claim 7, characterized in that, The sensing component is also used to output a second detection signal when there is no tennis ball at the ball position corresponding to the ball position of the ball-blocking plate; the ball-rotating module also includes a ball-rotating motor, which is connected to the ball-rotating cylinder and the controller; The controller is used to drive the ball-rotating motor to control the ball-rotating cylinder to rotate when the second detection signal is received, until there is a tennis ball at the ball position corresponding to the position of the ball-blocking plate.
9. The tennis robot according to claim 2, characterized in that, The sensing component is positioned at any location capable of detecting whether a tennis ball is present in the target ball position.
10. The tennis robot according to any one of claims 2 to 9, characterized in that, The sensing components include any one of an infrared sensor, a gravity sensor, and an ultrasonic sensor.
11. The tennis robot according to any one of claims 2 to 9, characterized in that, The ball-spinning module also includes a ball-limiting plate, which is located on the side of the lower ball tube opposite to the ball-serving assembly. The position of the ball-limiting plate corresponds to the position of the tennis ball through-hole, and is used to limit the number of tennis balls on the ball position corresponding to the position of the tennis ball through-hole to 1.
12. The tennis robot according to any one of claims 1 to 9, characterized in that, It also includes a buffer structure, which is located on the side of the lower tube opposite to the serving assembly, for cushioning the tennis ball falling into the lower tube.