Tennis training robot and training method

Abstract

Disclosed is a tennis training robot and a training method, the tennis training robot includes a housing (100) and driving wheels (200) mounted at a bottom of the housing, the driving wheels are driven by a driving motor (300), a ball entry area is formed at an upper part of the housing, a ball serving area is formed at a lower part of the housing, a ball entry opening (1) is formed in the ball entry area, the ball serving area is provided with a ball rotating disk (2), a track (4), an upper ball serving wheel (5) and a lower ball serving wheel (6), the ball rotating disk is arranged below the ball entry opening, the track is arranged below the ball rotating disk; a ball serving opening is formed on the housing in a ball release direction of the upper ball serving wheel and the lower ball serving wheel.

Description

TECHNICAL FIELD

[0001] The present invention relates to tennis training equipment, and particularly relates to a tennis training robot, and further relates to a training method of the tennis training robot.BACKGROUND

[0002] Tennis is a game for which training between two players is required, and features high intensity of exercise, thereby raising high requirements for a hitting partner. Tennis ball machines are also available on the market, and can assist athletes in hitting balls, and achieving hitting training effects.

[0003] A tennis ball device disclosed in the patent CN 206577345 U can realize a serving function, but has great limitations, as it can only serve tennis balls with fixed force in a fixing direction, but cannot realize trick shots with rotation. In addition, the device has a fixed serving frequency, and is incapable of serving the tennis balls at a higher frequency, of obtaining an incoming ball to determine a placement movement to simulate serving, and of simulating battle through man-machine interaction. Therefore, the existing tennis training devices only achieve relatively limited purposes of tennis training, but cannot achieve intelligent training purposes.

[0004] CN112891873A discloses a tennis serving and picking all-in-one machine. CN209137916U discloses an automatic tennis ball serving robot. CN109589580A discloses an intelligent tennis training robot based on visual identification and omnidirectional movement, and a training method.SUMMARY

[0005] In order to solve the problems of backward training techniques and limited training modes of tennis training, the present invention provides a tennis training robot, which can predict a trajectory and a placement of an incoming tennis ball according to ball hitting operation data of an athlete, identify a capability level of the athlete, perform corresponding movement positioning to simulate returning, and simulate a battle training for the athlete at the corresponding level.

[0006] The present invention provides the technical solution as follows: a tennis training robot, including a housing and driving wheels mounted at a bottom of the housing, the driving wheels are driven by a driving motor, a ball entry area is formed at an upper part of the housing, a ball serving area is formed at a lower part of the housing, a ball entry opening is formed in the ball entry area, the ball serving area is provided with a ball rotating disk, a track and a set of ball serving wheels, the ball rotating disk is arranged below the ball entry opening, the ball rotating disk is controlled by a ball entry motor, the track is arranged below the ball rotating disk, and the set of ball serving wheels are arranged at the track; and the set of ball serving wheels includes an upper ball serving wheel and a lower ball serving wheel, and a ball serving opening is formed on the housing in a ball release direction of the upper ball serving wheel and the lower ball serving wheel, wherein the tennis training robot controls the ball serving through a control system, the control system comprises: a main controller arranged to control the driving wheels to move, and is electrically connected to a mobile phone APP on which a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level are selectable, and wherein according to the mode selected on the APP the tennis training robot is arranged to perform movement positioning to serve a tennis ball, and to simulate ball returning and a battle training; a gyroscope and a Hall effect sensor arranged to provide a real-time feedback signal to keep a movement direction stable; and a dual-camera image recognition system, the main controller drives the ball entry motor, a ball serving motor and a driving wheel motor by connecting to driving circuits, the gyroscope, the Hall effect sensor and the dual-camera image recognition system are all electrically connected to the main controller; wherein the tennis training robot is arranged to predict a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and to perform movement positioning to simulate returning, in which the dual-camera image recognition system is arranged to capture multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculate a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and based on obtained hitting data of the athlete submitted to the main controller, the main controller is arranged to determine and identify a player level, so as to implement simulated battle training at a corresponding level.

[0007] Further, a plurality of ball rotating ports are formed on the ball rotating disk, a ball rotating rack is mounted in a middle of the ball rotating disk, and a center of the ball rotating rack below the ball rotating disk is connected to the ball entry motor.

[0008] Further, the track is arranged below the ball rotating disk in an overlapped form, and the track includes a transition section and a slope section connected to the transition section.

[0009] Further, the upper ball serving wheel is arranged above the track, and the lower ball serving wheel is arranged in an extension direction of the track.

[0010] A training method of the tennis training robot includes the following steps: S1. selecting a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level on the mobile phone APP; and the APP can collect and record various training data of a player in real time through communication with the robot, such as a ball hitting speed, number of hit balls, a ball hitting position, and a battle score. The data can help the player understand his / her training progress and technical weaknesses, so as to make targeted adjustments and improvements.

[0011] The APP can generate a training report and charts by analyzing the collected data, and then display training results and an improvement direction of the player. The data can be presented in a visual manner, such that the player can gain a clear understanding of his / her their own training conditions more intuitively, thereby making corresponding adjustments and improvements.

[0012] The APP can also generate a personalized training plan according to training goals and needs of the player, and set a training reminder function. The player can arrange a training plan according to his / her own schedule and ability, and perform training in a timely manner through the reminding function, so as to maintain continuity and effectiveness of training.

[0013] Further, the APP can provide a social and competitive communication platform for players to interact and communicate with one another. The player can share his / her own training results and experience, participate in player rankings and competition, and compete and battle with other players. In this way, competitive awareness and motivation of the player can be stimulated, and fun and effect of training are improved. S2. performing movement positioning to serve a tennis ball, and simulating ball returning and a battle training according to the mode selected on the APP, where the main controller controls the driving wheels to move, and the gyroscope and the Hall effect sensor provide a real-time feedback signal to keep a movement direction stable; S3. predicting a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and performing movement positioning to simulate returning, where the dual-camera image recognition system captures multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculation a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and S4. obtaining hitting data of the athlete and submitting the data to the main controller for determining and identifying a player level, so as to implement simulated battle training at a corresponding level.

[0014] Compared with the prior art, the present invention has the beneficial effects: the tennis training robot provided by the present invention can predict a trajectory and a placement of an incoming tennis ball, and perform corresponding movement positioning to simulate returning; obtain hitting data of the athlete and submit the data to the main controller for determining and identifying a player level, so as to implement simulated battle training at a corresponding level; and control the system to realize precise control of speed and placement of service, flat serving, high toss serving, and spin serving, thereby achieving overall intelligent scientific training.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG. 1 is an outline view of the present invention. FIG. 2 is a front view of the present invention. FIG. 3 is a sectional view in an A-A direction in FIG. 2 of the present invention. FIG. 4 is a perspective view of the present invention. FIG. 5 is a circuit control block diagram of the present invention.

[0016] Reference numerals in the accompanying drawings: 100. housing; 200. driving wheel; 300. driving motor; 1. ball entry opening; 2. ball rotating disk; 21. ball rotating port; 22. ball rotating rack; 3. ball entry motor; 4. track; 41. transition section; 42. slope section; 5. upper ball serving wheel; 6. lower ball serving wheel; 7. ball serving opening; 8. battery pack; 101. main controller; 102. gyroscope; 103. Hall effect sensor; 104. dual-camera image recognition system; 105. driving circuit; and 106. mobile phone APP.DETAILED DESCRIPTION OF EMBODIMENTS

[0017] The technical solutions of embodiments of the present invention will be described below clearly and comprehensively in conjunction with accompanying drawings of the embodiments of the present invention. Apparently, the embodiments described are merely some embodiments rather than all embodiments of the present invention.

[0018] With reference to FIGs. 1-4, a tennis training robot provided in the present invention includes a housing 100 and driving wheels 200 mounted at a bottom of the housing 100, the driving wheels 200 are driven by a driving motor 300, a ball entry area is formed at an upper part of the housing 100, a ball serving area is formed at a lower part of the housing 100, a ball entry opening 1 is formed in the ball entry area, the ball serving area is provided with a ball rotating disk 2, a track 4 and a set of ball serving wheels, the ball rotating disk 2 is arranged below the ball entry opening 1, the ball rotating disk 2 is controlled by a ball entry motor 3, the track 4 is arranged below the ball rotating disk 2, and the set of ball serving wheels are arranged at the track 4; and the set of ball serving wheels includes an upper ball serving wheel 5 and a lower ball serving wheel 6, and a ball serving opening 7 is formed on the housing in a ball release direction of the upper ball serving wheel 5 and the lower ball serving wheel 6.

[0019] As shown in FIG. 3, a plurality of ball rotating ports 21 are formed on the ball rotating disk 2, a ball rotating rack 22 is mounted in a middle of the ball rotating disk 2, and a center of the ball rotating rack 22 below the ball rotating disk 2 is connected to the ball entry motor 3. The ball entry motor 3 drives a middle ball rotating rack 22 to rotate, and rotation of the middle ball rotating rack 22 drives the ball rotating disk 2 to rotate, and tennis balls are released from the ball rotating ports 21.

[0020] The track 4 is arranged below the ball rotating disk 2 in an overlapped form, and the track 4 includes a transition section 41 and a slope section 42 connected to the transition section 41. The upper ball serving wheel 5 is arranged above the track 4, and the lower ball serving wheel 6 is arranged in an extension direction of the track 4.

[0021] The driving wheels 200 use Mecanum wheels, and are distributed on a bottom surface of the housing, and a total of four driving wheels are provided, including two front wheels and two rear wheels, respectively, all of which are located on the same horizontal plane. A battery pack 8 is arranged on the bottom surface of the housing 100. The Mecanum wheels provide driving force for the robot to travel, and the Mecanum wheels have good omnidirectional movement capability and good stability.

[0022] Introduction to a working process of ball serving: a tennis ball enters from the ball entry opening 1 and falls into the ball rotating disk 2, the ball entry motor 3 drives the ball rotating disk 2 to rotate, the ball rotating disk 2 is provided with four ball rotating ports 21, the tennis ball falls into one of the ball rotating ports 21, then falls onto the track 4, and finally releases from a position between the upper ball serving wheel 5 and the lower ball serving wheel 6, and the ball serving is completed.

[0023] The tennis training robot controls ball serving through a control system, where the control system includes a main controller 101, a gyroscope 102, a Hall effect sensor 103 and a dual-camera image recognition system 104, where the main controller 101 drives the ball entry motor, a ball serving motor and a driving wheel motor by connecting to driving circuits 105, the gyroscope 102, the Hall effect sensor 103 and the dual-camera image recognition system 104 are all electrically connected to the main controller 101, and the main controller 101 is further electrically connected to a mobile phone APP 106.

[0024] FIG. 5 is a circuit control block diagram of the tennis training robot, and a training method of the tennis training robot of the present invention specifically includes the following steps: S1. select a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level on the mobile phone APP 106; S2. perform movement positioning to serve a tennis ball, simulate ball returning and a battle training according to the mode selected on the APP, where the main controller 101 controls the driving wheels 200 to move, and the gyroscope 102 and the Hall effect sensor 103 provide a real-time feedback signal to keep a movement direction stable; S3. predict a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and perform movement positioning to simulate returning, where the dual-camera image recognition system 104 captures multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculate a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and S4. obtain hitting data of the athlete and submit the data to the main controller 101 for determining and identifying a player level, so as to implement simulated battle training at a corresponding level.

[0025] An automatic ball picking machine can be attached to the tennis training robot in the present invention. After being full of tennis balls, a ball picking box of the automatic ball picking machine automatically turns beside a tennis ball machine through induction of a sensor (similar to the principle that a sweeping robot turns back to a receptacle), and the ball picking box of the automatic ball picking machine is in butt joint with the tennis ball machine, such that functions of automatic identification and ball picking can be achieved, and the tennis balls are automatically sent back to a ball entry device.

[0026] The present invention is controlled by the main controller 101, and controls ball release speed and height by controlling rotating speeds of two motors of the set of ball serving wheels. When the two motors rotate at different speeds, rotation can be achieved; and placement changes can be achieved through the speed and rotation, or achieved in combination with movements of the Mecanum wheels, such that precise control of ball serving, such as speed and placement of service, flat serving, high toss serving, and spin serving, can be achieved.

[0027] The present invention provides a mechanical structure with high flexibility and stability, which can cooperate with the control system to simulate paces and ball hitting of the athlete.

[0028] According to the present invention, real-time communication between the training robot and a backend cloud can be realized, data is accumulated, autonomous deep learning of the machine is realized, and the determination capability is thus improved.

[0029] Although the embodiments of the present invention have been illustrated and described, it should be understood that those of ordinary skill in the art may make various changes, modifications, and variations to the above embodiments without departing from the scope of the present invention which is defined in the appended claims.

Examples

Embodiment Construction

[0017]The technical solutions of embodiments of the present invention will be described below clearly and comprehensively in conjunction with accompanying drawings of the embodiments of the present invention. Apparently, the embodiments described are merely some embodiments rather than all embodiments of the present invention.

[0018]With reference to FIGs. 1-4, a tennis training robot provided in the present invention includes a housing 100 and driving wheels 200 mounted at a bottom of the housing 100, the driving wheels 200 are driven by a driving motor 300, a ball entry area is formed at an upper part of the housing 100, a ball serving area is formed at a lower part of the housing 100, a ball entry opening 1 is formed in the ball entry area, the ball serving area is provided with a ball rotating disk 2, a track 4 and a set of ball serving wheels, the ball rotating disk 2 is arranged below the ball entry opening 1, the ball rotating disk 2 is controlled by a ball entry motor 3, the ...

TECHNICAL FIELD

[0001] The present invention relates to tennis training equipment, and particularly relates to a tennis training robot, and further relates to a training method of the tennis training robot.BACKGROUND

[0002] Tennis is a game for which training between two players is required, and features high intensity of exercise, thereby raising high requirements for a hitting partner. Tennis ball machines are also available on the market, and can assist athletes in hitting balls, and achieving hitting training effects.

[0003] A tennis ball device disclosed in the patent CN 206577345 U can realize a serving function, but has great limitations, as it can only serve tennis balls with fixed force in a fixing direction, but cannot realize trick shots with rotation. In addition, the device has a fixed serving frequency, and is incapable of serving the tennis balls at a higher frequency, of obtaining an incoming ball to determine a placement movement to simulate serving, and of simulating battle through man-machine interaction. Therefore, the existing tennis training devices only achieve relatively limited purposes of tennis training, but cannot achieve intelligent training purposes.

[0004] CN112891873A discloses a tennis serving and picking all-in-one machine. CN209137916U discloses an automatic tennis ball serving robot. CN109589580A discloses an intelligent tennis training robot based on visual identification and omnidirectional movement, and a training method.SUMMARY

[0005] In order to solve the problems of backward training techniques and limited training modes of tennis training, the present invention provides a tennis training robot, which can predict a trajectory and a placement of an incoming tennis ball according to ball hitting operation data of an athlete, identify a capability level of the athlete, perform corresponding movement positioning to simulate returning, and simulate a battle training for the athlete at the corresponding level.

[0006] The present invention provides the technical solution as follows: a tennis training robot, including a housing and driving wheels mounted at a bottom of the housing, the driving wheels are driven by a driving motor, a ball entry area is formed at an upper part of the housing, a ball serving area is formed at a lower part of the housing, a ball entry opening is formed in the ball entry area, the ball serving area is provided with a ball rotating disk, a track and a set of ball serving wheels, the ball rotating disk is arranged below the ball entry opening, the ball rotating disk is controlled by a ball entry motor, the track is arranged below the ball rotating disk, and the set of ball serving wheels are arranged at the track; and the set of ball serving wheels includes an upper ball serving wheel and a lower ball serving wheel, and a ball serving opening is formed on the housing in a ball release direction of the upper ball serving wheel and the lower ball serving wheel, wherein the tennis training robot controls the ball serving through a control system, the control system comprises: a main controller arranged to control the driving wheels to move, and is electrically connected to a mobile phone APP on which a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level are selectable, and wherein according to the mode selected on the APP the tennis training robot is arranged to perform movement positioning to serve a tennis ball, and to simulate ball returning and a battle training; a gyroscope and a Hall effect sensor arranged to provide a real-time feedback signal to keep a movement direction stable; and a dual-camera image recognition system, the main controller drives the ball entry motor, a ball serving motor and a driving wheel motor by connecting to driving circuits, the gyroscope, the Hall effect sensor and the dual-camera image recognition system are all electrically connected to the main controller; wherein the tennis training robot is arranged to predict a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and to perform movement positioning to simulate returning, in which the dual-camera image recognition system is arranged to capture multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculate a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and based on obtained hitting data of the athlete submitted to the main controller, the main controller is arranged to determine and identify a player level, so as to implement simulated battle training at a corresponding level.

[0007] Further, a plurality of ball rotating ports are formed on the ball rotating disk, a ball rotating rack is mounted in a middle of the ball rotating disk, and a center of the ball rotating rack below the ball rotating disk is connected to the ball entry motor.

[0008] Further, the track is arranged below the ball rotating disk in an overlapped form, and the track includes a transition section and a slope section connected to the transition section.

[0009] Further, the upper ball serving wheel is arranged above the track, and the lower ball serving wheel is arranged in an extension direction of the track.

[0010] A training method of the tennis training robot includes the following steps: S1. selecting a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level on the mobile phone APP; and the APP can collect and record various training data of a player in real time through communication with the robot, such as a ball hitting speed, number of hit balls, a ball hitting position, and a battle score. The data can help the player understand his / her training progress and technical weaknesses, so as to make targeted adjustments and improvements.

[0011] The APP can generate a training report and charts by analyzing the collected data, and then display training results and an improvement direction of the player. The data can be presented in a visual manner, such that the player can gain a clear understanding of his / her their own training conditions more intuitively, thereby making corresponding adjustments and improvements.

[0012] The APP can also generate a personalized training plan according to training goals and needs of the player, and set a training reminder function. The player can arrange a training plan according to his / her own schedule and ability, and perform training in a timely manner through the reminding function, so as to maintain continuity and effectiveness of training.

[0013] Further, the APP can provide a social and competitive communication platform for players to interact and communicate with one another. The player can share his / her own training results and experience, participate in player rankings and competition, and compete and battle with other players. In this way, competitive awareness and motivation of the player can be stimulated, and fun and effect of training are improved. S2. performing movement positioning to serve a tennis ball, and simulating ball returning and a battle training according to the mode selected on the APP, where the main controller controls the driving wheels to move, and the gyroscope and the Hall effect sensor provide a real-time feedback signal to keep a movement direction stable; S3. predicting a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and performing movement positioning to simulate returning, where the dual-camera image recognition system captures multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculation a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and S4. obtaining hitting data of the athlete and submitting the data to the main controller for determining and identifying a player level, so as to implement simulated battle training at a corresponding level.

[0014] Compared with the prior art, the present invention has the beneficial effects: the tennis training robot provided by the present invention can predict a trajectory and a placement of an incoming tennis ball, and perform corresponding movement positioning to simulate returning; obtain hitting data of the athlete and submit the data to the main controller for determining and identifying a player level, so as to implement simulated battle training at a corresponding level; and control the system to realize precise control of speed and placement of service, flat serving, high toss serving, and spin serving, thereby achieving overall intelligent scientific training.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG. 1 is an outline view of the present invention. FIG. 2 is a front view of the present invention. FIG. 3 is a sectional view in an A-A direction in FIG. 2 of the present invention. FIG. 4 is a perspective view of the present invention. FIG. 5 is a circuit control block diagram of the present invention.

[0016] Reference numerals in the accompanying drawings: 100. housing; 200. driving wheel; 300. driving motor; 1. ball entry opening; 2. ball rotating disk; 21. ball rotating port; 22. ball rotating rack; 3. ball entry motor; 4. track; 41. transition section; 42. slope section; 5. upper ball serving wheel; 6. lower ball serving wheel; 7. ball serving opening; 8. battery pack; 101. main controller; 102. gyroscope; 103. Hall effect sensor; 104. dual-camera image recognition system; 105. driving circuit; and 106. mobile phone APP.DETAILED DESCRIPTION OF EMBODIMENTS

[0017] The technical solutions of embodiments of the present invention will be described below clearly and comprehensively in conjunction with accompanying drawings of the embodiments of the present invention. Apparently, the embodiments described are merely some embodiments rather than all embodiments of the present invention.

[0018] With reference to FIGs. 1-4, a tennis training robot provided in the present invention includes a housing 100 and driving wheels 200 mounted at a bottom of the housing 100, the driving wheels 200 are driven by a driving motor 300, a ball entry area is formed at an upper part of the housing 100, a ball serving area is formed at a lower part of the housing 100, a ball entry opening 1 is formed in the ball entry area, the ball serving area is provided with a ball rotating disk 2, a track 4 and a set of ball serving wheels, the ball rotating disk 2 is arranged below the ball entry opening 1, the ball rotating disk 2 is controlled by a ball entry motor 3, the track 4 is arranged below the ball rotating disk 2, and the set of ball serving wheels are arranged at the track 4; and the set of ball serving wheels includes an upper ball serving wheel 5 and a lower ball serving wheel 6, and a ball serving opening 7 is formed on the housing in a ball release direction of the upper ball serving wheel 5 and the lower ball serving wheel 6.

[0019] As shown in FIG. 3, a plurality of ball rotating ports 21 are formed on the ball rotating disk 2, a ball rotating rack 22 is mounted in a middle of the ball rotating disk 2, and a center of the ball rotating rack 22 below the ball rotating disk 2 is connected to the ball entry motor 3. The ball entry motor 3 drives a middle ball rotating rack 22 to rotate, and rotation of the middle ball rotating rack 22 drives the ball rotating disk 2 to rotate, and tennis balls are released from the ball rotating ports 21.

[0020] The track 4 is arranged below the ball rotating disk 2 in an overlapped form, and the track 4 includes a transition section 41 and a slope section 42 connected to the transition section 41. The upper ball serving wheel 5 is arranged above the track 4, and the lower ball serving wheel 6 is arranged in an extension direction of the track 4.

[0021] The driving wheels 200 use Mecanum wheels, and are distributed on a bottom surface of the housing, and a total of four driving wheels are provided, including two front wheels and two rear wheels, respectively, all of which are located on the same horizontal plane. A battery pack 8 is arranged on the bottom surface of the housing 100. The Mecanum wheels provide driving force for the robot to travel, and the Mecanum wheels have good omnidirectional movement capability and good stability.

[0022] Introduction to a working process of ball serving: a tennis ball enters from the ball entry opening 1 and falls into the ball rotating disk 2, the ball entry motor 3 drives the ball rotating disk 2 to rotate, the ball rotating disk 2 is provided with four ball rotating ports 21, the tennis ball falls into one of the ball rotating ports 21, then falls onto the track 4, and finally releases from a position between the upper ball serving wheel 5 and the lower ball serving wheel 6, and the ball serving is completed.

[0023] The tennis training robot controls ball serving through a control system, where the control system includes a main controller 101, a gyroscope 102, a Hall effect sensor 103 and a dual-camera image recognition system 104, where the main controller 101 drives the ball entry motor, a ball serving motor and a driving wheel motor by connecting to driving circuits 105, the gyroscope 102, the Hall effect sensor 103 and the dual-camera image recognition system 104 are all electrically connected to the main controller 101, and the main controller 101 is further electrically connected to a mobile phone APP 106.

[0024] FIG. 5 is a circuit control block diagram of the tennis training robot, and a training method of the tennis training robot of the present invention specifically includes the following steps: S1. select a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level on the mobile phone APP 106; S2. perform movement positioning to serve a tennis ball, simulate ball returning and a battle training according to the mode selected on the APP, where the main controller 101 controls the driving wheels 200 to move, and the gyroscope 102 and the Hall effect sensor 103 provide a real-time feedback signal to keep a movement direction stable; S3. predict a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and perform movement positioning to simulate returning, where the dual-camera image recognition system 104 captures multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculate a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and S4. obtain hitting data of the athlete and submit the data to the main controller 101 for determining and identifying a player level, so as to implement simulated battle training at a corresponding level.

[0025] An automatic ball picking machine can be attached to the tennis training robot in the present invention. After being full of tennis balls, a ball picking box of the automatic ball picking machine automatically turns beside a tennis ball machine through induction of a sensor (similar to the principle that a sweeping robot turns back to a receptacle), and the ball picking box of the automatic ball picking machine is in butt joint with the tennis ball machine, such that functions of automatic identification and ball picking can be achieved, and the tennis balls are automatically sent back to a ball entry device.

[0026] The present invention is controlled by the main controller 101, and controls ball release speed and height by controlling rotating speeds of two motors of the set of ball serving wheels. When the two motors rotate at different speeds, rotation can be achieved; and placement changes can be achieved through the speed and rotation, or achieved in combination with movements of the Mecanum wheels, such that precise control of ball serving, such as speed and placement of service, flat serving, high toss serving, and spin serving, can be achieved.

[0027] The present invention provides a mechanical structure with high flexibility and stability, which can cooperate with the control system to simulate paces and ball hitting of the athlete.

[0028] According to the present invention, real-time communication between the training robot and a backend cloud can be realized, data is accumulated, autonomous deep learning of the machine is realized, and the determination capability is thus improved.

[0029] Although the embodiments of the present invention have been illustrated and described, it should be understood that those of ordinary skill in the art may make various changes, modifications, and variations to the above embodiments without departing from the scope of the present invention which is defined in the appended claims.

Examples

Embodiment Construction

[0017]The technical solutions of embodiments of the present invention will be described below clearly and comprehensively in conjunction with accompanying drawings of the embodiments of the present invention. Apparently, the embodiments described are merely some embodiments rather than all embodiments of the present invention.

[0018]With reference to FIGs. 1-4, a tennis training robot provided in the present invention includes a housing 100 and driving wheels 200 mounted at a bottom of the housing 100, the driving wheels 200 are driven by a driving motor 300, a ball entry area is formed at an upper part of the housing 100, a ball serving area is formed at a lower part of the housing 100, a ball entry opening 1 is formed in the ball entry area, the ball serving area is provided with a ball rotating disk 2, a track 4 and a set of ball serving wheels, the ball rotating disk 2 is arranged below the ball entry opening 1, the ball rotating disk 2 is controlled by a ball entry motor 3, the ...

Claims

1. A tennis training robot, comprising a housing (100) and driving wheels (200) mounted at a bottom of the housing (100), wherein the driving wheels (200) are driven by a driving motor (300), a ball entry area is formed at an upper part of the housing (100), a ball serving area is formed at a lower part of the housing (100), a ball entry opening (1) is formed in the ball entry area, the ball serving area is provided with a ball rotating disk (2), a track (4) and a set of ball serving wheels, the ball rotating disk (2) is arranged below the ball entry opening (1), the ball rotating disk (2) is controlled by a ball entry motor (3), the track (4) is arranged below the ball rotating disk (2), and the set of ball serving wheels are arranged at the track (4); and the set of ball serving wheels comprises an upper ball serving wheel (5) and a lower ball serving wheel (6), and a ball serving opening (7) is formed on the housing in a ball release direction of the upper ball serving wheel (5) and the lower ball serving wheel (6), wherein the tennis training robot controls the ball serving through a control system, wherein the control system comprises: a main controller (101) arranged to control the driving wheels (200) to move, and is electrically connected to a mobile phone APP (106) on which a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level are selectable, and wherein according to the mode selected on the APP the tennis training robot is arranged to perform movement positioning to serve a tennis ball, and to simulate ball returning and a battle training; a gyroscope (102) and a Hall effect sensor (103) arranged to provide a real-time feedback signal to keep a movement direction stable; and a dual-camera image recognition system (104), wherein the main controller (101) drives the ball entry motor, a ball serving motor and a driving wheel motor by connecting to driving circuits (105), the gyroscope (102), the Hall effect sensor (103) and the dual-camera image recognition system (104) are all electrically connected to the main controller (101); wherein: the tennis training robot is arranged to predict a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and to perform movement positioning to simulate returning, in which the dual-camera image recognition system (104) is arranged to capture multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculate a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and based on obtained hitting data of the athlete submitted to the main controller (101), the main controller (101) is arranged to determine and identify a player level, so as to implement simulated battle training at a corresponding level.

2. The tennis training robot according to claim 1, characterized in that a plurality of ball rotating ports (21) are formed on the ball rotating disk (2), a ball rotating rack (22) is mounted in a middle of the ball rotating disk (2), and a center of the ball rotating rack (22) below the ball rotating disk (2) is connected to the ball entry motor (3).

3. The tennis training robot according to claim 1, characterized in that the track (4) is arranged below the ball rotating disk (2) in an overlapped form, and the track (4) comprises a transition section (41) and a slope section (42) connected to the transition section (41).

4. The tennis training robot according to claim 1, characterized in that the upper ball serving wheel (5) is arranged above the track (4), and the lower ball serving wheel (6) is arranged in an extension direction of the track (4).

5. A training method using the tennis training robot according to claim 1, comprising the following steps: S1. selecting a designated mode, a random mode, an intelligent level mode and other different sports modes suitable for an athlete's level on the mobile phone APP (106); S2. performing movement positioning to serve a tennis ball, and simulating ball returning and a battle training according to the mode selected on the APP; and the main controller (101) controls the driving wheels (200) to move, and the gyroscope (102) and the Hall effect sensor (103) provide a real-time feedback signal to keep a movement direction stable; S3. predicting a trajectory and a placement of an incoming tennis ball according to a ball returning from a player, and performing movement positioning to simulate returning; and the dual-camera image recognition system (104) captures multi-point three-dimensional coordinates, a speed and a speed direction of a running tennis ball, and an algorithm model is used to calculation a direction of the incoming tennis ball and predict a placement of the incoming tennis ball; and S4. obtaining hitting data of the athlete and submitting the data to the main controller (101) for determining and identifying a player level, so as to implement simulated battle training at a corresponding level.

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