Search

EP-4588537-B1 - TENNIS TRAINING ROBOT AND TRAINING METHOD

EP4588537B1EP 4588537 B1EP4588537 B1EP 4588537B1EP-4588537-B1

Inventors

  • WANG, WEI

Dates

Publication Date
20260506
Application Date
20240326

Claims (5)

  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.

Description

TECHNICAL FIELD 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 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. 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. 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 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. 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; andbased 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. 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. Further, the track is arranged below