WO2024051342A1 - 网球训练的装置、模拟方法及装置、电子设备及存储介质 - Google Patents

网球训练的装置、模拟方法及装置、电子设备及存储介质 Download PDF

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Publication number
WO2024051342A1
WO2024051342A1 PCT/CN2023/106740 CN2023106740W WO2024051342A1 WO 2024051342 A1 WO2024051342 A1 WO 2024051342A1 CN 2023106740 W CN2023106740 W CN 2023106740W WO 2024051342 A1 WO2024051342 A1 WO 2024051342A1
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WO
WIPO (PCT)
Prior art keywords
ball
trajectory
parameters
tennis
court
Prior art date
Application number
PCT/CN2023/106740
Other languages
English (en)
French (fr)
Inventor
彭峻
Original Assignee
彭峻
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202211089911.7A external-priority patent/CN116271766A/zh
Priority claimed from CN202310495353.2A external-priority patent/CN116370934B/zh
Application filed by 彭峻 filed Critical 彭峻
Publication of WO2024051342A1 publication Critical patent/WO2024051342A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/38—Training appliances or apparatus for special sports for tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics

Definitions

  • the present disclosure relates to the field of automatic control technology, and specifically to tennis training devices, simulation methods and devices, electronic equipment and storage media.
  • Playing tennis not only requires certain skills, but also requires a very professional venue. For beginners, limited by venue and equipment factors, it requires a large cost to achieve online training. For schools, etc., due to the large number of students, planning Multiple tennis courts are impractical, which results in the inability to promote tennis on a large scale to the entire population.
  • the present disclosure provides a tennis training device, a simulation method and device, an electronic device and a storage medium.
  • a tennis training device including: a support frame assembly; a ball collection assembly, which is disposed adjacent to the serving side of the support frame assembly; and a passing assembly, with a goal opening of the passing assembly and The ball collection component is connected; the elastic ball feeding component is The elastic ball-feeding component is connected to the ball outlet of the passing component, and the elastic ball-feeding component can eject the tennis ball to a side away from the support frame component.
  • the elastic ball-feeding assembly includes a ball-feeding housing, a rotating ball-throwing arm, a turret and a first driving part.
  • the turret is installed in the ball-feeding housing, and the middle part of the rotating ball-throwing arm is rotatably connected with the rotation.
  • the first driving part cooperates with the force-applying end of the rotating ball-throwing arm, and the force-applying end is located on the side of the turret away from the ball-throwing end.
  • the first driving part includes an electromagnetic coil, a ferromagnetic body and an elastic member.
  • the ferromagnetic body is fixed on the force-applying end
  • the electromagnetic coil is fixed on the ball housing
  • the first end of the elastic member is connected between the ferromagnetic body and the rotating frame.
  • the second end of the elastic member is connected to the ball shell.
  • the first driving part also includes an elastic adjuster.
  • the elastic adjuster includes an adjuster housing, a rotating shaft and a pressing block.
  • the adjuster housing is connected to the ball housing, and the pressing block is fixed to the rotating shaft.
  • the rotating shaft is rotatably fixed on the regulator housing, the pressing block abuts the second end of the elastic member, and the distance from the circumferential outer wall of the pressing block to the rotating shaft is different.
  • the toss end has a groove.
  • the elastic ball feeding assembly further includes a ball storage box and a ball drop tube.
  • the upper end of the ball drop tube is connected to the ball storage box, and the lower end of the ball drop tube is connected to the ball feeding shell.
  • the inner diameter of the drop tube is greater than the outer diameter of the tennis ball and less than twice the outer diameter of the tennis ball.
  • the elastic ball-feeding assembly further includes a first limiting portion, which is fixed on the inner wall of the ball-feeding housing.
  • the rotating ball-throwing arm has a ball-throwing state and a ball-to-throw state.
  • the rotating ball-throwing arm When the arm is in the ball-throwing state, the distance between the lower end of the first limiting part and the rotating throwing arm is smaller than the outer diameter of the tennis ball.
  • the rotating ball-throwing arm is in the ball-throwing state, the lower end of the first limiting part and the rotating throwing arm The distance between the arms of the ball is greater than the outer diameter of the tennis ball.
  • the rotating ball-throwing arm has a ball-drop point
  • the ball-drop point is located between the ball-throwing end and the rotation axis of the rotating ball-throwing arm
  • the lower end of the first limiting portion is located between the ball-dropping point and the ball-throwing end.
  • the elastic ball-feeding assembly further includes a second limiting portion, and the second limiting portion The position is located on the rotating ball-throwing arm.
  • the second limiter When the rotating ball-throwing arm is in the ball-throwing state, the second limiter is in an avoidance position avoiding the lower end of the ball-dropping tube.
  • the second limiter The position is at the limit position of the lower end of the ball drop tube.
  • the second limiting part is a limiting arm
  • the first end of the limiting arm is connected to the rotating throwing arm
  • the second end of the limiting arm extends toward the lower end away from the drop tube.
  • the elastic ball feeding assembly further includes a second driving part and a mounting base.
  • the second driving part is fixed on the mounting part.
  • the ball feeding housing is rotatably mounted on the mounting base.
  • the second driving part can be driven and installed.
  • the base rotates.
  • the second driving part includes a rotating motor and a first gear
  • the elastic ball feeding assembly further includes a second gear
  • the second gear is rotatably installed on the mounting base
  • the ball feeding housing is fixed on the second gear.
  • the output end of the rotating electric machine is connected with the first gear, and the first gear meshes with the second gear.
  • the passing assembly includes a transmission housing, a driving wheel, an endless transmission belt, a driven wheel, and a plurality of ball baffles.
  • the driving wheel, the endless transmission belt, the driven wheel, and a plurality of ball baffles are located in the transmission housing.
  • the driving wheel and the driven wheel are respectively located at both ends of the annular transmission belt.
  • Multiple ball baffles are arranged at intervals on the outer wall of the annular transmission belt.
  • the bottom of the transmission housing has a ball inlet, and the upper part of the transmission housing has a ball outlet.
  • the ball opening of the transmission shell is connected to the ball receiving assembly, and the ball outlet of the transmission shell is connected to the elastic ball feeding assembly.
  • the goal openings include two goal openings, the two goal openings are respectively located on the walls of the transmission housing on both sides of the annular conveyor belt, and the two goal openings are staggered.
  • the ball collection assembly is secured to the support frame assembly.
  • the tennis training device further includes a control assembly disposed on the support frame assembly.
  • a tennis training simulation method including: collecting batting parameters in a real court through a racket, and collecting batting images in the real court, wherein the disclosure is deployed in the real court
  • the tennis training device provided; calculates the first trajectory parameters of the first movement trajectory of the target tennis ball in the real court based on the batting parameters and the batting image; calculates the second trajectory parameters of the target tennis ball in the virtual court based on the first trajectory parameters, wherein, Target Tennis courts include real courts and virtual courts;
  • the second trajectory parameter is used to render a second movement trajectory of the target tennis ball when it moves in the virtual court, where the movement trajectory of the target tennis ball includes a first movement trajectory and a second movement trajectory.
  • collecting the batting parameters in the real court through the racket includes: collecting the batting speed in the real court through the speed sensor on the racket; collecting the batting angle in the real court through the direction sensor on the racket; The height sensor on the racket collects the batting height in the real court; the force sensor on the racket collects the batting force in the real court; the tracker on the racket collects the swing trajectory of the racket in the real court; the batting parameters include : Batting speed, hitting angle, hitting height, hitting force, racket swing trajectory.
  • calculating the first trajectory parameters of the first movement trajectory of the target tennis ball in the real court based on the hitting parameters and the hitting image includes: using the hitting parameters to calculate the first initial movement parameters of the target tennis ball, wherein, An initial movement parameter includes: starting point movement speed, starting point movement direction, starting point height; obtaining the environmental resistance coefficient in the real court; using the first initial movement parameter and the environmental resistance coefficient to calculate the trajectory end point of the first movement trajectory of the target tennis ball in the real court Parameters, wherein the trajectory end point parameters include: end point movement speed, end point movement direction, and end point height; the trajectory end point parameters of the first movement trajectory are corrected using the batting image.
  • calculating the trajectory end parameters of the first movement trajectory of the target tennis ball in the real court using the first initial motion parameter and the environmental resistance coefficient includes: obtaining the first court length of the real court, and obtaining the ball weight of the target tennis ball. ;Set the first court length as the longest horizontal length of the first movement trajectory of the target tennis ball in the real court, and use the first initial motion parameters, ball weight, and environmental resistance coefficient to calculate the trajectory end parameters of the target tennis ball after running the first court length. .
  • calculating the second trajectory parameter of the target tennis ball in the virtual court based on the first trajectory parameter includes: determining the trajectory end point parameter of the first movement trajectory of the target tennis ball in the real court in the first trajectory parameter, where the trajectory end point The parameters include: end point movement speed, end point movement direction, end point height; configure the trajectory end point parameter as the second initial movement parameter of the target tennis ball on the virtual court; use the second initial movement parameter to calculate the intermediate movement of the target tennis ball in the simulated movement in the real scene parameters and termination motion parameters, and determine the intermediate motion parameters and the end motion parameters as the second trajectory parameters of the target tennis ball on the virtual court.
  • using the second trajectory parameters to render the second movement trajectory of the target tennis ball when it moves in the virtual court includes: using the second trajectory parameters to fit the third movement trajectory of the target tennis ball on the world coordinate system; obtaining the virtual The abbreviated coordinate system of the stadium, and the third movement trajectory is converted from the world coordinate system to the abbreviated coordinate system to obtain the second movement trajectory; the second movement trajectory is dynamically displayed on the virtual screen where the virtual stadium is located.
  • the method further includes: calculating the batting action parameters of the batsman based on the batting parameters and the batting image. , where the batting action parameters are used to characterize the standard degree of the batsman's action when hitting the ball; the movement quality parameters of the target tennis ball in the virtual court are calculated based on the batting parameters and the hitting image, where the movement quality parameters are used to characterize the target tennis ball The standard degree of movement after being hit by the batter.
  • calculating the batting action parameters of the batsman based on the batting parameters and the batting image includes: parsing a plurality of moving limb nodes from the batting image; selecting several key nodes from the plurality of moving limb nodes.
  • Limb nodes among which the key limb nodes are the limb nodes that need to exert force during tennis training.
  • the key limb nodes include: hands, elbows, shoulders, waist, and feet; several key limb nodes are used to create a dynamic 3D human body model, and according to the dynamic The motion range of the 3D human body model is used to calculate the batting action parameters of the batsman; the batting action parameters are corrected using the batting parameters.
  • calculating the batting action parameters of the batsman based on the motion range of the dynamic 3D human body model includes: freezing the dynamic 3D human body model at the initial swing time, the middle swing time, and the end swing time; Assume that the coordinate position combination of the key limb nodes after the dynamic 3D human body model is frozen is added to the coordinate system.
  • the coordinate position combination includes the coordinate positions of the corresponding key limb nodes at the starting swing time, the middle swing time, and the end swing time; For each key limb node, connect all the coordinate positions in the coordinate position combination in sequence according to the freeze time to generate the limb movement trajectory; calculate the action matching degree between the limb movement trajectory and the preset standard action trajectory; determine the action matching degree as the hitting player batting action parameters.
  • the target tennis ball is calculated based on the shot parameters and the shot image.
  • the movement quality parameters in the virtual court include: calculating the first trajectory parameters of the target tennis ball's first movement trajectory in the real court based on the batting parameters and the batting image; calculating the second trajectory parameters of the target tennis ball in the virtual court based on the first trajectory parameters. ; Use the second trajectory parameters to fit the second movement trajectory of the target tennis ball when it moves in the virtual court; calculate the posture matching degree between the second movement trajectory and the preset standard movement trajectory, where the movement posture of the preset standard movement trajectory includes: Direction, arc, speed, landing point, height; the attitude matching degree is determined as the movement quality parameter of the target tennis ball on the virtual court.
  • a tennis training simulation device including: a collection module for collecting batting parameters in the real court through the racket, and collecting batting images in the real court, wherein, in the real court A tennis training device is deployed.
  • the tennis training device includes: a ball-blocking component; a ball-collecting component, which is arranged adjacent to the ball-blocking component; the ball-collecting component has a ball-collecting port; and a ball-feeding component, which is located at the ball-collecting component.
  • the ball-collecting component transports the collected tennis balls to the ball-feeding component, which has a ball outlet;
  • the first calculation module is used to calculate the position of the target tennis ball on the real court based on the hitting parameters and hitting images.
  • a first trajectory parameter of the first motion trajectory a second calculation module for calculating the second trajectory parameter of the target tennis ball in the virtual court based on the first trajectory parameter, where the court of the target tennis ball includes a real court and a virtual court
  • a rendering module used to render the second movement trajectory of the target tennis ball when it moves in the virtual court using the second trajectory parameter, where the movement trajectory of the target tennis ball includes the first movement trajectory and the second movement trajectory.
  • a storage medium includes a stored program, and when the program is run, the steps in the above method are executed.
  • an electronic device including a processor, a communication interface, a memory, and a communication bus.
  • the processor, the communication interface, and the memory complete communication with each other through the communication bus, wherein: the memory is used to store computer programs. ;
  • the processor is used to perform the steps in the above method by running a program stored in the memory.
  • the support frame assembly supports the ball collecting assembly. After the practitioner hits the tennis ball to the ball collecting assembly, the ball collecting assembly collects the ball and then enters the passing assembly. The passing assembly passes the tennis ball to The elastic ball feeding component feeds the ball. This can reduce the number of staff picking up and throwing balls, and greatly reduces the workload of staff picking up and throwing balls. Improved practice staff experience. It effectively solves the problem of not only wasting manpower but also affecting the experience of the training personnel during tennis training.
  • Figure 1 shows a schematic diagram of the overall structure of a tennis training device according to Embodiment 1 of the present disclosure
  • Figure 2 shows a schematic top view of the tennis training device of Figure 1;
  • Figure 3 shows a schematic cross-sectional view of A-A of the ball collecting assembly of the tennis training device of Figure 2;
  • Figure 4 shows a schematic structural diagram of the passing assembly of the tennis training device of Figure 1;
  • Figure 5 shows a schematic diagram of the passing assembly in direction A of Figure 4.
  • Figure 6 shows a schematic structural view of the elastic ball feeding assembly of the tennis training device of Figure 1;
  • Figure 7 shows a partial enlarged schematic view of the elastic ball assembly of Figure 6;
  • Figure 8 shows a partial structural schematic diagram of the support frame assembly of the tennis training device of Figure 1;
  • Figure 9 shows a schematic diagram of the overall structure of the tennis training device according to Embodiment 2 of the present disclosure.
  • Figure 10 shows a schematic diagram of the mating structure of the support frame assembly and the ball collecting assembly of the tennis training device of Figure 9;
  • Figure 11 is a flow chart of a simulation method of tennis training according to an embodiment of the present disclosure.
  • Figure 12 is a structural diagram of a system in an embodiment of the present disclosure.
  • Figure 13 is an operation flow chart disclosing an embodiment
  • Figure 14 is a structural block diagram of a tennis training simulation device according to an embodiment of the present disclosure.
  • FIG. 15 is a structural block diagram of an electronic device according to an embodiment of the present disclosure.
  • the above-mentioned drawings include the following reference signs: 10. Support frame component; 20. Ball collecting component; 21. High-speed camera; 22. Projector; 30. Passing component; 31. Transmission housing; 32. Driving wheel; 33. Endless conveyor belt; 34. Driven wheel; 35. Ball blocking plate; 40. Elastic ball feeding assembly; 41. Ball feeding shell; 42. Rotating ball throwing arm; 43. Turret; 44. Electromagnetic coil; 45. Ferromagnetic body; 46. Elastic member; 47. Elastic force Adjuster; 48. First limiting part; 49. Second limiting part; 50. Second driving part; 60. Mounting base; 70. Control component; 100. Training staff; 200. Tennis racket; 300. Tennis ball; 14.1. Wire drawing, 14.2.
  • Coiling wheel 14.3. Long shaft, 14.4. Driven gear, 14.5. Transmission gear, 14.6. Folding motor of ball collecting groove; 14.7. Hard goal board; 13. Side net rotating shaft, 14. Incline Bevel gear A, 15. Bevel gear B, 16. Top mesh shaft, 17. Tubular motor, 18. External power cord, 19. Motor shaft and sleeve, 50.1, Side mesh frame, 50.2, Side mesh frame Long slot, 50.3, front beam of the top net, 50.4, long slot of the front beam of the top net, 50.5, sliding pin, 5. tennis training simulation device, 51. acquisition module, 52. first calculation module, 54. second calculation module , 56. Rendering module, 6. Electronic equipment, 61. Processor, 62. Communication interface, 63. Memory.
  • the tennis training device of Embodiment 1 includes: a support frame component 10 , a ball collection component 20 , a passing component 30 and an elastic ball feeding component 40 .
  • the ball receiving assembly 20 is disposed adjacent to the serving side of the supporting frame assembly 10 .
  • the goal opening of the passing assembly 30 is connected with the ball collecting assembly 20 .
  • the elastic ball feeding assembly 40 is connected to the ball outlet of the passing assembly 30 , and the elastic ball feeding assembly 40 can eject the tennis ball to a side away from the support frame assembly 10 .
  • the support frame assembly 10 plays a supporting role for the ball collecting assembly 20. After the training personnel hits the tennis ball 300 to the ball collecting assembly 20, the ball collecting assembly 20 collects the ball and then enters the passing assembly 30. The ball assembly 30 transfers the tennis ball 300 to the elastic ball feeding assembly 40 for feeding the ball.
  • This can reduce the number of staff picking up and throwing balls, greatly reducing the workload of staff picking up and throwing balls, and improving the experience of training personnel.
  • the technical solution of this embodiment effectively solves the problem in related technologies that during tennis training, it not only wastes manpower but also affects the experience of the practitioners.
  • the ball collecting assembly 20 includes a ball blocking curtain, ball blocking nets on both sides and a folding ball collecting groove at the lower part.
  • the training personnel hit the tennis ball 300 to the ball-blocking curtain.
  • the ball-blocking nets on both sides can prevent the tennis ball 300 from popping up.
  • the tennis ball 300 falls into the folding ball-collecting groove.
  • the folding ball-collecting groove is set at an angle.
  • the tennis ball 300 rolls to the ball-blocking curtain under the action of gravity. passing component Within 30.
  • the folding ball collecting groove includes a plurality of inclined plates, and the plurality of inclined plates can be folded or unfolded.
  • the elastic ball feeding assembly 40 includes a ball feeding housing 41, a rotating ball throwing arm 42, a turret 43 and a first driving part.
  • the turret 43 is installed on In the ball-feeding housing 41, the middle part of the rotating ball-throwing arm 42 is rotatably connected to the turret 43.
  • the ball-throwing end of the rotating ball-throwing arm 42 is located on the side of the turret 43 away from the support frame assembly 10.
  • the first driving part Cooperating with the force-applying end of the rotating ball-throwing arm 42, the force-applying end is located on the side of the rotating frame 43 away from the ball-throwing end.
  • the arrangement of the elastic ball-feeding assembly 40 can save manual ball throwing.
  • the ball-feeding shell 41 can protect the internal components.
  • the arrangement of the rotating ball-throwing arm 42, the rotating frame 43 and the first driving part makes the ball-throwing effect better.
  • the simulation is more realistic.
  • the above description of the position refers to the matching part of the turret 43 and the rotating ball throwing arm 42.
  • the turret 43 can be a support or a rotation axis.
  • the first driving part includes an electromagnetic coil 44, a ferromagnetic body 45 and an elastic member 46.
  • the ferromagnetic body 45 is fixed on the force-applying end, and the electromagnetic coil 44 is fixed on the spherical shell.
  • the first end of the elastic member 46 is connected to the force application end between the ferromagnetic body 45 and the rotating frame 43, and the second end of the elastic member 46 is connected to the ball housing 41.
  • the elastic member 46 rotates and throws the ball.
  • the arm 42 exerts elastic force, and the tennis ball 300 located at the throwing end is suddenly thrown out, and the training personnel can hit the tennis ball 300 for training.
  • the elastic member 46 is a spring, and the spring is in a compressed state.
  • the second end of the elastic member 46 is connected to the ball housing 41, either directly or indirectly.
  • the elastic ball feeding component 40 is located in the middle of the support frame component 10 in the left and right direction, and the ball blocking curtain is provided with a ball throwing hole.
  • the elastic ball feeding component 40 can be disposed on the side of the ball receiving component 20 close to the training staff 100, and the training staff 100 holds the tennis racket 200 to hit the tennis balls 300, so that there is no need to use a ball-blocking curtain.
  • a throwing hole is provided on the top.
  • the first driving part also includes an elastic adjuster 47.
  • the elastic adjuster 47 includes an adjuster housing, a rotating shaft and a resistor. Pressing block, the regulator housing is connected to the ball housing 41, the pressing block is fixedly connected to the rotating shaft, the rotating shaft is rotatably fixed on the regulator housing, the pressing block is against the second end of the elastic member 46, The distance from the circumferential outer wall of the pressing block to the rotation axis is different.
  • the setting of the elastic force adjuster 47 can effectively change the speed, height and strength of the thrown ball.
  • the circumferential outer wall of the resisting block refers to the wall surface that resists the elastic member 46. As the rotation shaft rotates, the matching position of the resisting block and the elastic member 46 changes.
  • the ball-throwing end has a groove.
  • the tennis ball 300 will automatically slide into the groove, and the groove is arranged to make it easy to position the tennis ball 300.
  • the elastic ball feeding assembly 40 also includes a ball storage box and a ball drop tube.
  • the upper end of the ball drop tube is connected to the ball storage box, and the lower end of the ball drop tube is connected to the ball feeding tube.
  • the housings 41 are connected.
  • the ball storage box is arranged to accommodate multiple tennis balls 300 at the same time, and the ball drop tube allows the tennis balls 300 to slide into the ball feeding housing 41 from the ball storage box.
  • the inner diameter of the ball drop tube is larger than the outer diameter of the tennis ball and less than twice the outer diameter of the tennis ball. In this way, only one tennis ball can slide down at a time.
  • the elastic ball feeding assembly 40 also includes a first limiting part 48.
  • the first limiting part 48 is fixed on the inner wall of the ball feeding housing 41, and the rotating ball throwing arm 42 There is a ball tossing state and a ball tossing state.
  • the distance between the lower end of the first limiting part 48 and the rotating ball tossing arm 42 is smaller than the outer diameter of the tennis ball.
  • the rotating ball tossing arm 42 When the ball is ready to be thrown, the distance between the lower end of the first limiting part 48 and the rotating ball throwing arm 42 is greater than the outer diameter of the tennis ball.
  • the setting of the first limiting part 48 ensures that there is only one tennis ball 300 in the groove. According to the cooperative relationship between the first limiting part 48 and the rotating ball throwing arm 42, after one tennis ball 300 is thrown, another tennis ball 300 will Slide into the groove.
  • the rotating ball throwing arm 42 has a ball drop point.
  • the ball dropping point is located between the ball throwing end and the rotation axis of the rotating ball throwing arm 42.
  • the lower end of the first limiting part 48 Located between the ball drop point and the toss end.
  • the elastic ball component 40 also It includes a second limiting part 49.
  • the second limiting part 49 is located on the rotating ball throwing arm 42.
  • the second limiting part 49 is in an avoidance position avoiding the lower end of the ball drop tube.
  • the rotating ball-throwing arm 42 is in the ball-throwing state, the second limiting portion 49 is in the limiting position of the lower end of the ball-drop tube.
  • the arrangement of the second limiting part 49 allows the tennis balls 300 to slide in one by one from the ball drop tube into the ball feeding housing 41, thus avoiding the blocking phenomenon between the tennis balls 300.
  • the second limiting part 49 is a limiting arm.
  • the first end of the limiting arm is connected to the rotating throwing arm 42, and the second end of the limiting arm is moved away from the rotating ball throwing arm 42.
  • the lower end of the drop tube extends.
  • the limit arm has a simple structure, low processing cost and is easy to use.
  • the elastic ball feeding assembly 40 also includes a second driving part 50 and a mounting base 60.
  • the second driving part 50 is fixed on the mounting part, and the ball feeding housing 41 It is rotatably installed on the mounting base 60, and the second driving part 50 can drive the mounting base 60 to rotate.
  • the above structure expands the ball throwing range, that is, the elastic ball feeding assembly 40 not only throws the tennis ball 300 directly in front, but also throws the tennis ball diagonally forward, which expands the versatility of the tennis training device.
  • the second driving part 50 includes a rotating motor and a first gear
  • the elastic ball feeding assembly 40 also includes a second gear.
  • the second gear is rotatably mounted on On the mounting base 60, the ball housing 41 is fixed on the second gear, the output end of the rotating motor is connected to the first gear, and the first gear meshes with the second gear.
  • the passing assembly 30 includes a transmission housing 31, a driving wheel 32, an endless transmission belt 33, a driven wheel 34 and a plurality of ball blocking plates 35.
  • the endless transmission belt 33, the driven wheel 34 and a plurality of ball baffles 35 are all located in the transmission housing 31.
  • the driving wheel 32 and the driven wheel 34 are respectively located at both ends of the endless transmission belt 33, and the multiple ball baffles 35 are spaced apart.
  • the setting of the passing assembly 30 realizes the function of automatically transmitting the tennis ball 300 and improves the automation degree of the tennis training device. pass The transmission housing 31, the driving wheel 32, the endless transmission belt 33, the driven wheel 34 and a plurality of ball baffles 35.
  • the arrangement of the above components can realize the continuous transmission of the tennis balls 300 and ensure the continuity of the transmission of the tennis balls.
  • the two goal openings are respectively located on the walls of the transmission housing 31 on both sides of the annular transmission belt 33.
  • the two goal openings Staggered settings. In this way, two tennis balls 300 can enter the transmission housing 31 at the same time.
  • the above structure improves the transmission efficiency of the tennis balls 300.
  • the ball collection assembly 20 is fixed on the support frame assembly 10 .
  • the above structure is relatively stable and the integration effect is relatively good.
  • the tennis training device further includes a control component 70 , and the control component 70 is disposed on the support frame component 10 .
  • the setting of the control component 70 further improves the degree of intelligence.
  • the control component 70 can be a cloud server, a mobile phone and/or a computer.
  • the support frame assembly 10 also includes 13. Side net rotating shaft, 14. Bevel bevel gear A, 15. Bevel bevel gear B, 16. Top net rotating shaft, 17. Tubular motor, 18. External power cord, 19. Motor shaft and sleeve. Wire drawing 14.1, coiling wheel 14.2, long shaft 14.3, driven gear 14.4, transmission gear 14.5, ball collecting groove folding motor 14.6 and goal hard plate 14.7.
  • the intelligent basic tennis training device includes a main frame, a batting screen, a folding ball collection slot, a ball lifting system, a ball throwing system (elastic ball feeding assembly 40), a special tennis racket with a sensor, and a telescopic block ( cloth), high-speed cameras, projectors, electrical control boxes, operation button boxes and cloud servers, etc.
  • the main frame (support frame assembly 10) is composed of an aluminum alloy profile frame and a closing plate. Its width*height*thickness dimensions are: 3000*3000*300mm.
  • the front of the main frame is equipped with a shooting ball screen, a folding ball collection groove and a telescopic block (cloth); the middle part of the lower part of the frame is equipped with a ball lifting system and a ball throwing system; a high-speed camera and a projector are installed on the front pole of the top telescopic block.
  • the electronic control and operating system are installed on the side of the main frame. It can be installed on the floor in various places with hard ground outdoors or indoors, and is suitable for tennis practitioners at all stages from beginners to advanced.
  • This tennis training device is shipped as a complete set from the factory and can be leveled and installed on the floor or hung on site. Just connect the power supply and put it into use. During training, first turn on the power switch, scan the QR code with your mobile phone to log in, and turn on the tennis training device with one click.
  • the front telescopic blocking net (the ball blocking net on both sides of the ball collection component) automatically extends, and the ball lifting system, ball throwing system, and high-speed camera 21 and projector 22 etc. are automatically put into operation.
  • the ball throwing system When practicing hitting the ball, turn on the ball lifting system and the ball throwing system in sequence, and select the throwing force and angle (or choose the left/right side to hit the ball).
  • the tennis ball in the ball collection slot can be entered through the ball lifting system.
  • To the ball throwing system the ball is thrown to the designated position according to the set direction and intensity for practitioners to practice hitting.
  • the hit tennis ball is hit on the batting screen and then falls into the receiving groove, and the batting practice is repeated in a cycle.
  • the device's built-in high-speed camera will record the body movements of each serve/hit, the moment of hitting the ball, the ball's initial flight path, etc., and identify it through a built-in specific algorithm to simulate a hit.
  • the flight trajectory and landing point of the tennis ball on the standard tennis court are automatically compared with the built-in evaluation standards of the device to give the practitioner a clear score. And the evaluation results are projected on the batting screen.
  • the difference between the technical solution of Embodiment 2 and Embodiment 1 is that the tennis training device does not have a control component 70 . In this way, different tennis training devices can be selected according to personal circumstances.
  • the detailed structure of the ball collecting assembly 20 is: side net frame 50.1, side net frame long slot 50.2, top net front beam 50.3, top net front beam long slot 50.4 and sliding pin 50.5. Through the sliding pin 50.5 Swipe to collapse or expand the side network frame 50.1.
  • telescopic barriers cloths on the top and sides of the main frame are rarely installed.
  • the high-speed camera is installed on the crossbar on the upper edge of the main frame.
  • No projector is installed, and an LED electronic screen is installed on the upper part of the hitting screen.
  • the display screen is used to instantly display the evaluation results of each shot.
  • the main frame is also equipped with light tubes or light strips, which together with the shot screen form a light box that can be clearly displayed, so that you can clearly see the tennis balls during evening practice.
  • This embodiment is suitable for installation on the side nets and end nets in existing standard tennis courts. It adopts special hanging brackets for hanging. It occupies a very small space when not practicing and does not affect sparring and training on the court.
  • the usage method and training process are also the same as those in Embodiment 1. The difference is that the simulation and evaluation results are not projected and displayed on the batting screen during the practice, but the evaluation results are displayed on the LED display screen.
  • Embodiment 3 The difference between the technical solution of Embodiment 3 and Embodiment 1 is that, on the basis of Embodiment 1, no high-speed camera, projector, or LED display screen is installed, and evaluation and simulation software is not configured.
  • the batting screen is divided into different scoring areas through lines and colors. A tennis ball hitting a certain landing area means that the tennis ball will fall into the corresponding scoring area on a standard tennis court. Each time can be roughly judged through human eye observation.
  • the pros and cons of batting The main frame is also equipped with light tubes or light strips, which together with the batting screen form a light box that can be clearly displayed, making it easier to clearly see the landing point of the tennis ball on the batting screen during practice during periods of poor lighting.
  • This implementation is suitable for use in schools and other places in relatively backward places (such as remote mountainous areas), and is low cost, requires little maintenance, and is simple.
  • the telescopic nets (cloth) on the top and sides of the main frame are retained.
  • the main frame adopts the floor installation method, and the four floor feet are fixed on the foundation embedded iron through bolts, or the expansion bolts are fixed on the leveled hardened ground.
  • the usage method and training process are also basically the same as those in Embodiment 1, but each serve or shot is not identified and simulated, nor is computer software evaluation performed. A simple judgment is made by simply observing the ball landing position on the hitting screen with the human eye.
  • the method provided by an embodiment of the present disclosure can be executed in a mobile phone, a controller, a server, a computer, or a similar computing scheduling device.
  • FIG. 11 is based on this disclosure.
  • a flow chart of the tennis training simulation method of the embodiment is shown in Figure 11. The process includes the following steps:
  • Step S202 collect batting parameters in the real court through the racket, and collect batting images in the real court, where a tennis training device is deployed in the real court, and the tennis training device includes: a ball blocking component; a ball collecting component; and a ball collecting component.
  • the assembly is arranged adjacent to the ball-blocking assembly, and the ball-collecting assembly has a ball-collecting port; the ball-feeding assembly is located on the side of the ball-collecting assembly away from the ball-blocking assembly, and the ball-collecting assembly transports the collected tennis balls to the ball-feeding assembly.
  • the ball feeding assembly has a ball outlet.
  • Step S204 Calculate the first trajectory parameters of the first movement trajectory of the target tennis ball in the real court according to the hitting parameters and the hitting image.
  • the first trajectory parameters include the trajectory end point parameters of the first movement trajectory;
  • Step S206 Calculate the second trajectory parameter of the target tennis ball in the virtual court based on the first trajectory parameter.
  • the court of the target tennis ball includes a real court and a virtual court.
  • the virtual court in this embodiment is a three-dimensional virtual court. Through curtains, display screens, etc. Displayed on the boundary of the real stadium, thereby achieving a virtual combination with the real stadium and becoming a complete stadium.
  • Step S208 Use the second trajectory parameters to render the second movement trajectory of the target tennis ball when it moves in the virtual court, where the movement trajectory of the target tennis ball includes the first movement trajectory and the second movement trajectory.
  • the first movement trajectory and the second movement trajectory constitute the complete trajectory of the target tennis movement.
  • the user observes the first movement trajectory flying on the real court with the naked eye, and watches the second movement trajectory flying on the virtual court in real time on the display terminal, thereby experiencing To the complete batting process and experience.
  • the batting parameters in the real court are collected through the racket, and the batting images in the real court are collected, and the first trajectory parameters of the first movement trajectory of the target tennis ball in the real court are calculated based on the batting parameters and the batting image,
  • the second trajectory parameters of the target tennis ball on the virtual court are calculated based on the first trajectory parameters, where the court of the target tennis ball includes a real court and a virtual court, and the second trajectory parameters are used to render the target tennis ball on the virtual court.
  • the second movement trajectory when moving in the virtual court wherein the movement trajectory of the target tennis ball includes the first movement trajectory and the second movement trajectory, by calculating the first trajectory parameters of the target tennis ball when moving in the real court and the movement time in the virtual court
  • the second trajectory parameter is used to render the movement trajectory of the target tennis ball on the virtual ball
  • the combination of the real court and the virtual court is used to solve the venue restrictions and solve the technical problem in related technologies that the sports venue cannot be expanded through the virtual court.
  • collecting the batting parameters in the real court through the racket includes: collecting the batting speed in the real court through the speed sensor on the racket; collecting the batting speed in the real court through the direction sensor on the racket. Angle; the height sensor on the racket is used to collect the batting height in the real golf course; the batting parameters include: batting speed, batting angle, and batting height.
  • the maximum value of the speed sensor, direction sensor, and height sensor during the hitting process is used as the output hitting speed, hitting angle, and hitting height.
  • the hitting height in this embodiment may be the height of the center of the racket face.
  • the hitting position on the racket in the real golf course may also be collected through a position sensor on the racket.
  • image frames can also be collected through image sensors, and the target tennis ball in the image frame can be located through the target detection algorithm.
  • the position changes of the target tennis ball during the batting process can be calculated through the image frames collected in continuous time.
  • the reference object is used to calculate the batting parameters, including batting speed, batting angle and batting height.
  • collecting images of batting in a real golf course includes: collecting body action images and ball movement images during the batting process through a camera unit, where multiple camera units are deployed in the real golf course and are deployed at different locations. , which can realize 360 panoramic image collection.
  • calculating the first trajectory parameters of the first movement trajectory of the target tennis ball in the real court based on the batting parameters and the batting image includes:
  • S11 use the hitting parameters to calculate the first initial movement parameters of the target tennis ball, where the first initial movement parameters include: starting point movement speed, starting point movement direction, and starting point height;
  • the environmental resistance coefficient can be an empirical value and is pre-configured in the control device;
  • trajectory end point parameters include: end point movement speed, end point movement direction, and end point height;
  • the batting image of this embodiment is used to correct and select the batting parameters. For example, through the batting image, the sensing data when the ball finally leaves the racket is selected as the first initial motion parameter, and the body action image and the ball motion image are used. Based on the image vision algorithm, the speed, direction and height of the ball are calculated, and then the ball is weighted and summed with the batting parameters collected by the racket, or the maximum value is selected as the first initial movement parameter for the final output.
  • the trajectory end point parameters of the dynamic trajectory can be obtained.
  • using the first initial motion parameter and the environmental resistance coefficient to calculate the trajectory end parameters of the first motion trajectory of the target tennis ball in the real court includes: obtaining the first court length of the real court, and obtaining the ball weight of the target tennis ball;
  • the first court length is set as the longest horizontal length of the first movement trajectory of the target tennis ball in the actual court, and the first initial motion parameters, ball weight, and environmental resistance coefficient are used to calculate the trajectory end parameters of the target tennis ball after running the first court length.
  • the target tennis ball Since the target tennis ball performs parabolic falling motion in the horizontal direction or obliquely upward after leaving the racket, its horizontal direction can be calculated when the weight of the ball, environmental resistance coefficient, initial velocity (speed and direction), starting height and other parameters are known. If the longest horizontal length of horizontal movement is limited, the height of the sphere when it reaches the longest horizontal length, end-point movement speed, end-point movement direction, etc. can be calculated in reverse.
  • a sensor can also be provided on a display end (such as a projector screen, a display screen) set at the boundary of the real stadium.
  • the boundary is the boundary between the real stadium and the virtual stadium.
  • the sphere Entering the virtual court through the boundary the sensor can sense the landing point motion parameters of the target tennis ball when it reaches the boundary, and use the landing point motion parameters as the trajectory end parameters, including: end point movement speed, end point movement direction, and end point height.
  • calculating the second trajectory parameter of the target tennis ball in the virtual court based on the first trajectory parameter includes: determining the trajectory end point parameter of the first movement trajectory of the target tennis ball in the real court in the first trajectory parameter, where , the trajectory end point parameters include: end point movement speed, end point movement direction, end point height; configure the trajectory end point parameters as the second initial movement parameters of the target tennis ball in the virtual court; use the second initial movement parameters to calculate the simulated movement of the target tennis ball in the real scene
  • the intermediate motion parameters and the terminal motion parameters are determined as the second trajectory parameters of the target tennis ball on the virtual court.
  • the movement parameters (trajectory end parameters) of the sphere at the end of the real court are the initial values of the virtual court.
  • the second initial motion parameters are first used to simulate the motion of the sphere in the real scene, and the motion parameters during the motion and at the end of the motion are used as the second trajectory parameters of the virtual court.
  • using the second trajectory parameters to render the second movement trajectory of the target tennis ball when it moves in the virtual court includes: using the second trajectory parameters to fit the third movement trajectory of the target tennis ball on the world coordinate system; obtaining the second movement trajectory of the target tennis ball in the virtual court.
  • the abbreviated coordinate system is used to convert the third movement trajectory from the world coordinate system to the abbreviated coordinate system to obtain the second movement trajectory; the second movement trajectory is dynamically displayed on the virtual screen where the virtual stadium is located.
  • the second trajectory parameters in this embodiment include the movement rate, direction, vertical height (relative to the ground reference object) and horizontal height at multiple time points.
  • the movement trajectory can be generated, because the virtual stadium is scaled down from the real stadium. , so it is necessary to convert and map according to the abbreviated coordinate system of the virtual stadium to obtain the reduced second movement trajectory (the second movement trajectory and the third movement trajectory have the same trend, but different coordinate values).
  • the method further includes: calculating the batting player's stroke based on the batting parameters and the batting image.
  • Ball action parameters wherein the batting action parameters are used to characterize the standard degree of the batsman's action when hitting the ball; the movement of the target tennis ball on the virtual court is calculated based on the batting parameters and the batting image.
  • quality Quantity parameter wherein the motion quality parameter is used to characterize the standard degree of the movement trajectory of the target tennis ball after being hit by the batsman.
  • the batting action parameters and movement quality parameters of this embodiment can be presented to the user through evaluation scores or grades and displayed on the client.
  • human body postures including hands, elbows, shoulders and waist, and footwork.
  • Tracking data of key points and other key points can be used to restore the athlete's whole-body movements and compare them with standard movements to obtain evaluation scores, allowing athletes to understand the errors in their playing postures and pursue higher expectations that are more in line with standard postures, thereby improving their batting. level.
  • calculating the batting action parameters of the batsman based on the batting parameters and the batting image includes:
  • the key limb nodes include: hands, elbows, shoulders, waist, feet;
  • calculating the batting action parameters of the batsman based on the motion range of the dynamic 3D human body model includes: freezing the dynamic 3D human body at the initial swing time, the middle swing time, and the end swing time. Model; add the coordinate position combination of the key limb nodes after the dynamic 3D human body model is frozen in the preset coordinate system, where the coordinate position combination includes the starting swing time, the middle swing time, and the end swing time of the corresponding key limb node.
  • the tracker In addition to image visual recognition, it can also be recognized through hardware.
  • the tracker By placing a tracker on the front end of the racket, the tracker provides trajectory data, and the computer can restore the trajectory of the racket and compare it with the trajectory of the standard racket to obtain an evaluation score or grade. .
  • calculating the motion quality parameters of the target tennis ball on the virtual court based on the batting parameters and the batting image includes: calculating the movement quality parameters of the target tennis ball on the virtual court based on the batting parameters and the batting image.
  • a first trajectory parameter of a first motion trajectory in the court calculating a second trajectory parameter of the target tennis ball in the virtual court based on the first trajectory parameter; using the second trajectory parameter to fit the location of the target tennis ball.
  • the second movement trajectory when moving in the virtual court; calculate the posture matching degree between the second movement trajectory and the preset standard movement trajectory, wherein the movement posture of the preset standard movement trajectory includes: direction, radian, speed, Landing point, height; determine the posture matching degree as the movement quality parameter of the target tennis ball on the virtual court.
  • the method further includes: determining whether the batting action parameters are lower than a first standard. Threshold; if the batting action parameter is lower than the first standard threshold, select the first limb node with the lowest action parameter from the multiple parameter items of the batting action parameter, wherein the batting action parameter includes multiple Parameter items, each parameter item corresponds to an action parameter; search the first action correction resource related to the first limb node in the preset database; push the first action correction resource to the user terminal.
  • the motion quality parameter of the target tennis ball on the virtual court after calculating the motion quality parameter of the target tennis ball on the virtual court based on the batting parameter and the batting image, it further includes: determining whether the motion quality parameter is lower than a second standard threshold; if the batting action parameter is lower than the second standard threshold, select the movement posture with the lowest quality parameter from multiple parameter items of the movement quality parameter, wherein the movement quality parameter includes multiple parameters items, each parameter item corresponds to a quality parameter, and the movement posture includes: direction, radian, speed; search the second limb node with the greatest correlation with the movement posture in the preset mapping table; search in the preset database Search for the second action correction resource related to the second limb node; push the second action correction resource to the user terminal source.
  • the movement correction resources in this embodiment can be teaching videos, pictures, text descriptions of standard movements, or teaching courses, purchase links, etc.
  • the batting parameters in the real court before collecting the batting parameters in the real court through the racket and collecting the batting images in the real court, it also includes: inputting training parameter information on the human-computer interaction interface, wherein the training parameter information Including: player level, training courses, training items; using the training parameter information to generate the first standard threshold of the batting action parameter and the second standard threshold of the movement quality parameter.
  • the trainer or other people can judge whether the trainer's actions and ball path during online training meet the standards, and then make targeted improvements and enhancements. It provides batsmen with a comprehensive parameter index to summarize each shot, intuitively see their progress, improve their interest and confidence in playing, and improve the efficiency of human-computer interaction.
  • Figure 12 is a structural diagram of the system in the embodiment of the present disclosure, including: camera, inductive measurement element (speed sensor, etc.), control box, on-site server, manual operation box, projector, cloud server, and mobile phone terminal.
  • Figure 13 is an operation flow chart of the disclosed embodiment.
  • the target tennis ball is a tennis ball as an example.
  • the basic tennis simulation training method based on AI intelligent evaluation includes:
  • a camera unit is used to record multiple body movements and movement trajectories of athletes
  • AI artificial intelligence
  • the tennis flight path sensing unit is used to record the flight path of the tennis ball.
  • the monitored data includes ball speed, hitting point position, flight direction, etc.;
  • the sensing unit including the data monitoring unit, uses infrared sensing units, RGB cameras, etc. to monitor and collect data on athletes' limb nodes, tennis movement trajectories, etc.;
  • the data transmission unit converts the monitored and collected data into digital signals and transmits them to the server;
  • the central data control unit of the server has powerful computing functions, performs AI computing and 3D simulation on the data, provides database parameter comparison, and provides athletes with feedback on training effects and movement corrections;
  • the server's data storage and analysis unit accumulates, analyzes and optimizes athletes' training effects over time, and sends periodic analysis reports;
  • Cloud platform management unit athletes’ data is uploaded to the cloud platform through communication protocols such as the Internet and 5G for comprehensive background management;
  • the information sharing unit uses mobile APP to share information with athletes, including account management, venue reservation, sports statistics, coach reservation and other functions;
  • the natural human-computer interaction unit uses face, fingerprint or voice recognition functions to facilitate switching of various functions and parameters of the system and improve athletes' sports experience.
  • the monitoring data also includes the athlete's limb node data, key parameters such as hands, shoulders, waist, and footwork; the monitoring data also includes the movement trajectory of the tennis racket, which is used to accurately simulate and evaluate the accuracy of the athlete's body movements. ;
  • the tennis hitting simulation system has multiple sets, all of which can be connected to the server for data storage, analysis and sharing; all terminal data can be connected to the Internet using communication protocols such as 5G to achieve synchronization and sharing on the cloud platform, through mobile phones
  • the APP interacts with the user; the tennis hitting simulation system also uses face, fingerprint or voice recognition functions to facilitate the switching of various functions and parameters and improve the athlete's experience.
  • the plan of this embodiment records the simulation training method of basic tennis movements, training tennis beginners in the basic movements of forehand and backhand hitting and serving, quickly mastering the basic skills of tennis, increasing the interest of tennis enthusiasts, and integrating it with actual combat as soon as possible .
  • Tennis for beginners The player stands in a set position in a specific training area and swings the racket to hit a tennis ball that has dropped vertically from a fixed position above and bounced up from the ground, hitting the ball on the curtain directly in front.
  • the cameras and sensing devices set up in this area, through multiple sensing units, can capture the body node movements of the athletes' forehand and backhand swings and serves, etc., and transmit the data to the central computer processor, using advanced 3D
  • the algorithm system truly restores the hitting accuracy of body movements.
  • the sensing elements in the training area can also capture the flight trajectory of the tennis ball, input it into the control center for analysis and calculation, calculate the flight speed, arc and direction of the tennis ball, and predict the specific landing point of the tennis ball on the actual tennis court after it is hit. Help athletes judge the accuracy and effectiveness of the shot, and promptly adjust the strength, arc and direction of the shot.
  • This set of basic tennis simulation training methods based on AI intelligent evaluation can help tennis beginners quickly master the basic movements of tennis through repeated hitting training on the spot, correct the bad habits of tennis beginners, overcome the nervousness of beginners, thereby achieving The purpose of a quick introduction to tennis.
  • This simulation training method which is formulated with reference to the United States Tennis Association NTRP (National Tennis Rating Program) standards, tennis beginners can reach level 3.0-3.5 in a short time, thereby helping tennis beginners quickly overcome the initial obstacles in learning and enjoy tennis.
  • the joy of sports effectively promotes the popularization and promotion of tennis as a national sport.
  • the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation.
  • the technical solution of the present disclosure can be embodied in the form of a software product in essence or that contributes to related technologies.
  • the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk). ), includes several instructions to cause a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present disclosure.
  • module may be a combination of software and/or hardware that implements a predetermined function.
  • apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
  • Figure 14 is a structural block diagram of a tennis training simulation device 5 according to an embodiment of the present disclosure. As shown in Figure 14, the device includes: a collection module 51, a first calculation module 52, a second calculation module 54, and a rendering module 56, where ,
  • the acquisition module 51 is used to collect batting parameters in the real court through the racket, and to collect batting images in the real court, wherein a tennis training device is deployed in the real court, and the tennis training device includes: a block a ball assembly; a ball collecting assembly, which is arranged adjacent to the ball blocking assembly; the ball collecting assembly has a ball collecting opening; a ball feeding assembly, and the ball feeding assembly is located away from the ball collecting assembly; On one side of the ball-blocking assembly, the ball-collecting assembly transports the collected tennis balls to the ball-feeding assembly, and the ball-feeding assembly has a ball outlet;
  • the first calculation module 52 is configured to calculate the first trajectory parameters of the first movement trajectory of the target tennis ball in the real court according to the batting parameters and the batting image;
  • the second calculation module 54 is configured to calculate the second trajectory parameter of the target tennis ball on the virtual court based on the first trajectory parameter, where the court of the target tennis ball includes the real court and the virtual court;
  • the rendering module 56 is configured to use the second trajectory parameters to render the second movement trajectory of the target tennis ball when it moves in the virtual court, where the movement trajectory of the target tennis ball includes the first movement trajectory and the Describe the second movement trajectory.
  • the collection module includes: a first collection unit for collecting the batting speed in the real court through a speed sensor on the racket; a second collection unit for collecting the batting speed on the racket through a speed sensor on the racket.
  • the direction sensor collects the batting angle in the real court;
  • the third collection unit is used to collect the batting height in the real court through the height sensor on the racket;
  • the fourth collection unit is used to collect the batting height in the real court through the force sensor on the racket Collect the batting force in the real court;
  • the fifth collection unit is used to collect the racket swing trajectory in the real court through the tracker on the racket; wherein the batting parameters include: the batting speed, the batting speed, the batting speed, the batting speed, and the batting speed.
  • the first calculation module includes: a first calculation unit configured to calculate a first initial motion parameter of the target tennis ball using the batting parameter, wherein the first initial motion parameter includes : Starting point movement speed, starting point movement direction, starting point height; acquisition unit, used to obtain the environmental resistance coefficient in the real golf course; second calculation unit, used to calculate using the first initial movement parameter and the environmental resistance coefficient
  • the trajectory endpoint parameters of the first movement trajectory of the target tennis ball in the real court wherein the trajectory endpoint parameters include: endpoint movement speed, endpoint movement direction, endpoint height; a correction unit for using the batting image Modify the trajectory end point parameter of the first motion trajectory.
  • the second calculation unit includes: an acquisition subunit, used to obtain the first court length of the real court, and to obtain the ball weight of the target tennis ball; and a calculation subunit, used to calculate the first court length of the real court.
  • the length of a court is set to the longest horizontal length of the first movement trajectory of the target tennis ball in the real court, and the first initial movement parameter, the weight of the ball, and the environmental resistance coefficient are used to calculate the operation of the target tennis ball.
  • the trajectory end point parameter after the first course length.
  • the second calculation module includes: a determining unit for determining the trajectory end parameter of the first movement trajectory of the target tennis ball in the real court among the first trajectory parameters, wherein: The trajectory end point parameters include: end point movement speed, end point movement direction, and end point height; a configuration unit for configuring the trajectory end point parameters as the second initial movement parameters of the target tennis ball on the virtual court; a calculation unit for using the The second initial motion parameters calculate the intermediate motion parameters and the terminal motion parameters of the simulated motion of the target tennis ball in the real scene, and determine the intermediate motion parameters and the terminal motion parameters as the second trajectory parameters of the target tennis ball in the virtual court. .
  • the rendering module includes: a fitting unit, used to use the second trajectory parameters to fit the third movement trajectory of the target tennis ball on the world coordinate system; a conversion unit, used to obtain the the abbreviated coordinate system of the virtual stadium, and convert the third motion trajectory from the world coordinate system to the abbreviated coordinate system to obtain the second motion trajectory; a display unit for displaying the virtual stadium The second motion trajectory is dynamically displayed on the virtual screen where it is located.
  • the device further includes: a third calculation module, configured to use the second trajectory parameter to render the second movement trajectory of the target tennis ball when it moves in the virtual court.
  • the batting action parameters of the batsman are calculated according to the batting parameters and the batting image, wherein the batting action parameters are used to characterize the standard degree of the batting player's action when hitting the ball;
  • fourth A calculation module configured to calculate the movement quality parameters of the target tennis ball on the virtual court based on the batting parameter and the batting image, wherein the movement quality parameter is used to characterize the target tennis ball after being hit by the batting player.
  • the standard degree of movement trajectory configured to use the second trajectory parameter to render the second movement trajectory of the target tennis ball when it moves in the virtual court.
  • the third computing module includes: an analysis unit for parsing a plurality of moving limb nodes from the batting image; and a selection unit for selecting from the plurality of moving limb nodes.
  • Several key limb nodes wherein the key limb nodes are limb nodes that need to exert force during tennis training.
  • the key limb nodes include: hands, elbows, shoulders, waist, and feet;
  • a computing unit is used to use the Several key limb nodes create a dynamic 3D human body model, and calculate the batting action parameters of the batsman according to the motion range of the dynamic 3D human body model; a correction unit is used to modify the batting action parameters using the batting parameters. .
  • the computing unit includes: a freezing subunit for freezing the dynamic 3D human body model at the starting swing time, the middle swing time, and the end swing time; and adding a subunit for freezing the dynamic 3D human body model at the starting swing time, the middle swing time, and the end swing time; Add the coordinate position combination of the key limb nodes after the dynamic 3D human body model is frozen in the preset coordinate system, where the coordinate position combination includes the starting swing time, the middle swing time, and the end swing time of the corresponding key limb node.
  • connection sub-unit used to connect all coordinate positions in the coordinate position combination according to the freeze time for each key limb node, and generate limb movement trajectory
  • calculation sub-unit used to calculate the limb movement trajectory and the preset The action matching degree of the standard action trajectory
  • the determination subunit is used to determine the action matching degree as the batting action parameter of the batsman.
  • the fourth calculation module includes: a first calculation unit configured to calculate a first movement trajectory of the target tennis ball in the real court according to the batting parameter and the batting image. Trajectory parameters; a second calculation unit for calculating the second trajectory parameters of the target tennis ball on the virtual court based on the first trajectory parameters.
  • a fitting unit used to use the second trajectory parameter to fit the second movement trajectory of the target tennis ball when it moves in the virtual court
  • a third calculation unit used to calculate the second movement trajectory and The posture matching degree of the preset standard movement trajectory, wherein the movement posture of the preset standard movement trajectory includes: direction, radian, speed, landing point, and height
  • a determination unit is used to determine the posture matching degree as the The movement quality parameters of the target tennis ball on the virtual court.
  • each of the above modules can be implemented through software or hardware.
  • it can be implemented in the following ways, but is not limited to this: the above modules are all located in the same processor; or the above modules can be implemented in any combination.
  • the forms are located in different processors.
  • Embodiments of the present disclosure also provide a storage medium in which a computer program is stored, wherein the computer program is configured to execute the steps of the method described in the present disclosure when running.
  • the storage medium described above may be configured to store a computer program for performing the following steps:
  • a tennis training device is deployed in the real court, and the tennis training device includes: a ball blocking component; A ball assembly, the ball collecting assembly is arranged adjacent to the ball blocking assembly, and the ball collecting assembly has a ball collecting opening; a ball feeding assembly, the ball feeding assembly is located away from the ball collecting assembly and away from the ball blocking assembly On one side, the ball collecting assembly transports the collected tennis balls to the ball feeding assembly, and the ball feeding assembly has a ball outlet;
  • the above storage medium may include but is not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), mobile hard disk, Various media such as magnetic disks or optical disks that can store computer programs.
  • ROM read-only memory
  • RAM random access memory
  • mobile hard disk Various media such as magnetic disks or optical disks that can store computer programs.
  • the embodiment of the present disclosure also provides an electronic device 6, including a processor 61, a communication interface 62, a memory 63, and a communication bus 64.
  • the processor 61, the communication interface 62, and the memory 63 complete each other through the communication bus 64.
  • the above-mentioned electronic device 6 may also include a transmission device and an input-output device (not shown), wherein the transmission device is connected to the above-mentioned processor 61, and the input-output device is connected to the above-mentioned processor 61.
  • Memory 63 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 63 may further include memory located remotely relative to the processor 61, and these remote memories may be connected to the server through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • the above-mentioned processor 61 may be configured to perform the following steps through a computer program:
  • a tennis training device is deployed in the real court, and the tennis training device includes: a ball blocking component; A ball assembly, the ball collecting assembly is arranged adjacent to the ball blocking assembly, and the ball collecting assembly has a ball collecting opening; a ball feeding assembly, the ball feeding assembly is located away from the ball collecting assembly and away from the ball blocking assembly On one side, the ball collecting assembly transports the collected tennis balls to the ball feeding assembly, and the ball feeding assembly has a ball outlet;
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only for logical functions. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated into Another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of the present disclosure essentially improves the related technology.
  • the contributed part or all or part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium and includes a number of instructions to enable a computer device (which can be a personal computer, a server or a computer). Network equipment, etc.) perform all or part of the steps of the methods described in various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code. .

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Abstract

公开了网球训练的装置、模拟方法及装置、电子设备及存储介质。其中，该方法包括：通过球拍采集现实球场中的击球参数，以及采集现实球场中的击球图像；根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数；基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数，其中，目标网球的球场包括现实球场和虚拟球场；采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹，其中，目标网球的运动轨迹包括第一运动轨迹和第二运动轨迹。

Description

网球训练的装置、模拟方法及装置、电子设备及存储介质
相关申请的引用
本公开要求于2022年9月7日向中华人民共和国国家知识产权局提交的申请号为202211089911.7、名称为“网球训练的模拟方法及装置、电子设备及存储介质”的发明专利申请以及于2023年5月4日向中华人民共和国国家知识产权局提交的申请号为202310495353.2、名称为“网球训练装置”的发明专利申请的全部权益，并通过引用的方式将其全部内容并入本文。
领域
本公开涉及自动控制技术领域，具体而言，涉及网球训练的装置、模拟方法及装置、电子设备及存储介质。
背景
网球在日常训练中，需要用大量的网球，训练完毕后，网球分散在训练场的各个角落中，网球的捡球工作需要配备专门的工作人员来完成，工作人员收集费时费力。另外，网球收集到一起后，还需要培训人员进行抛球。
打网球不仅需要一定的技巧，更需要有非常专业的场地，对于初学者来说，受限于场地与器材因素，需要较大的成本才能实现网络训练，而对于学校等，由于学生众多，规划多个网球场不太现实，进而导致网球不能全民大范围推广。
概述
本公开提供了网球训练的装置、模拟方法及装置、电子设备及存储介质。
根据本公开的一个方面，提供了网球训练装置，包括：支撑框架组件；收球组件，收球组件与支撑框架组件的靠近发球侧相邻设置；传球组件，传球组件的进球口与收球组件相连；弹性给球组件， 弹性给球组件与传球组件的出球口相连，弹性给球组件可将网球向远离支撑框架组件的一侧弹射。
在某些实施方案中，弹性给球组件包括给球壳体、转动抛球臂、转动架和第一驱动部，转动架安装在给球壳体内，转动抛球臂的中部可转动地与转动架相连，转动抛球臂的抛球端位于转动架的背离支撑框架组件的一侧，第一驱动部与转动抛球臂的施力端相配合，施力端位于转动架的远离抛球端的一侧。
在某些实施方案中，第一驱动部包括电磁线圈、铁磁体和弹性件，铁磁体固定在施力端，电磁线圈固定在给球壳体上，弹性件第一端连接在铁磁体和转动架之间的施力端，弹性件的第二端与给球壳体相连。
在某些实施方案中，第一驱动部还包括弹力调节器，弹力调节器包括调节器壳体、转轴和抵压块，调节器壳体与给球壳体相连，抵压块与转动轴固定相连，转动轴可转动地固定在调节器壳体上，抵压块与弹性件的第二端相抵，抵压块的周向外壁至转动轴的距离不同。
在某些实施方案中，抛球端具有凹槽。
在某些实施方案中，弹性给球组件还包括贮球盒和落球管，落球管的上端与贮球盒相连通，落球管的下端与给球壳体相连通。
在某些实施方案中，落球管的内径大于网球的外径小于两倍的网球的外径。
在某些实施方案中，弹性给球组件还包括第一限位部，第一限位部固定在给球壳体的内壁，转动抛球臂具有抛球状态和待抛球状态，转动抛球臂处于抛球状态时，第一限位部的下端与转动抛球臂之间的距离小于网球的外径，转动抛球臂处于待抛球状态时，第一限位部的下端与转动抛球臂之间的距离大于网球的外径。
在某些实施方案中，转动抛球臂具有落球点，落球点位于抛球端和转动抛球臂的转动轴之间，第一限位部的下端位于落球点和抛球端之间
在某些实施方案中，弹性给球组件还包括第二限位部，第二限 位部位于转动抛球臂上，转动抛球臂处于抛球状态时，第二限位部处于避开落球管的下端的避开位置，转动抛球臂处于待抛球状态时，第二限位部处于落球管的下端的限位位置。
在某些实施方案中，第二限位部为限位臂，限位臂的第一端与转动抛球臂相连，限位臂的第二端向远离落球管的下端延伸。
在某些实施方案中，弹性给球组件还包括第二驱动部和安装座，第二驱动部固定在安装部，给球壳体可转动地安装在安装座上，第二驱动部可驱动安装座转动。
在某些实施方案中，第二驱动部包括旋转电机和第一齿轮，弹性给球组件还包括第二齿轮，第二齿轮可转动地安装在安装座上，给球壳体固定在第二齿轮上，旋转电机的输出端与第一齿轮相连，第一齿轮与第二齿轮相啮合。
在某些实施方案中，传球组件包括传输壳体、主动轮、环形传输带、从动轮和多个挡球板，主动轮、环形传输带、从动轮和多个挡球板均位于传输壳体内，主动轮和从动轮分别位于环形传输带的两端，多个挡球板相间隔地设置在环形传输带的外壁，传输壳体的底部具有进球口，传输壳体的上部具有出球口，传输壳体的进球口与收球组件相连，传输壳体的出球口与弹性给球组件相连。
在某些实施方案中，进球口包括两个进球口，两个进球口分别位于环形传输带的两侧的传输壳体的壁面上，两个进球口交错设置。
在某些实施方案中，收球组件固定在支撑框架组件上。
在某些实施方案中，网球训练装置还包括控制组件，控制组件设置在支撑框架组件上。
根据本公开的另一个方面，提供了一种网球训练的模拟方法，包括：通过球拍采集现实球场中的击球参数，以及采集现实球场中的击球图像，其中，现实球场中部署有本公开提供的网球训练装置；根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数；基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数，其中，目标网球的球场包括现实球场和虚拟球场； 采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹，其中，目标网球的运动轨迹包括第一运动轨迹和第二运动轨迹。
在某些实施方案中，通过球拍采集现实球场中的击球参数包括：通过球拍上的速度传感器采集现实球场中的击球速度；通过球拍上的方向传感器采集现实球场中的击球角度；通过球拍上的高度传感器采集现实球场中的击球高度；通过球拍上的力量传感器采集现实球场中的击球力度；通过球拍上的追踪器采集现实球场中的球拍挥动轨迹；其中，击球参数包括：击球速度，击球角度，击球高度，击球力度，球拍挥动轨迹。
在某些实施方案中，根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数包括：采用击球参数计算目标网球的第一初始运动参数，其中，第一初始运动参数包括：起点运动速度，起点运动方向，起点高度；获取现实球场中的环境阻力系数；采用第一初始运动参数和环境阻力系数计算目标网球在现实球场中第一运动轨迹的轨迹终点参数，其中，轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；采用击球图像修正第一运动轨迹的轨迹终点参数。
在某些实施方案中，采用第一初始运动参数和环境阻力系数计算目标网球在现实球场中第一运动轨迹的轨迹终点参数包括：获取现实球场的第一球场长度，以及获取目标网球的球体重量；将第一球场长度设置为目标网球在现实球场中第一运动轨迹的最长水平长度，采用第一初始运动参数、球体重量、环境阻力系数计算目标网球运行第一球场长度后的轨迹终点参数。
在某些实施方案中，基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数包括：确定第一轨迹参数中目标网球在现实球场中第一运动轨迹的轨迹终点参数，其中，轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；将轨迹终点参数配置为目标网球在虚拟球场的第二初始运动参数；采用第二初始运动参数计算目标网球在真实场景中模拟运动的中间运动参数和终止运 动参数，并将中间运动参数和终止运动参数确定为目标网球在虚拟球场的第二轨迹参数。
在某些实施方案中，采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹包括：采用第二轨迹参数拟合目标网球在世界坐标系上的第三运动轨迹；获取虚拟球场的缩略坐标系，并将第三运动轨迹从世界坐标系转换至缩略坐标系，得到第二运动轨迹；在虚拟球场所在的虚拟画面上动态显示第二运动轨迹。
在某些实施方案中，在采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹之后，方法还包括：根据击球参数和击球图像计算击球人员的击球动作参数，其中，击球动作参数用于表征击球人员击球时的动作标准程度；根据击球参数和击球图像计算目标网球在虚拟球场的运动质量参数，其中，运动质量参数用于表征目标网球被击球人员打击后运动轨迹的标准程度。
在某些实施方案中，根据击球参数和击球图像计算击球人员的击球动作参数包括：从击球图像中解析出多个运动肢体节点；从多个运动肢体节点中选择若干个关键肢体节点，其中，关键肢体节点是网球训练过程中需要发力的肢体节点，关键肢体节点包括：手、肘、肩、腰、脚；采用若干个关键肢体节点创建动态3D人体模型，并根据动态3D人体模型的运动幅度计算击球人员的击球动作参数；采用击球参数修正击球动作参数。
在某些实施方案中，根据动态3D人体模型的运动幅度计算击球人员的击球动作参数包括：在起始挥拍时间，中间挥拍时间，结束挥拍时间定格动态3D人体模型；在预设坐标系中添加动态3D人体模型被定格后关键肢体节点的坐标位置组合，其中，坐标位置组合包括对应关键肢体节点在起始挥拍时间，中间挥拍时间，结束挥拍时间的坐标位置；针对每个关键肢体节点，按照定格时间依次连接坐标位置组合中的所有坐标位置，生成肢体运动轨迹；计算肢体运动轨迹与预设标准动作轨迹的动作匹配度；将动作匹配度确定为击球人员的击球动作参数。
在某些实施方案中，根据击球参数和击球图像计算目标网球 在虚拟球场的运动质量参数包括：根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数；基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数；采用第二轨迹参数拟合目标网球在虚拟球场中运动时的第二运动轨迹；计算第二运动轨迹与预设标准运动轨迹的姿态匹配度，其中，预设标准运动轨迹的运动姿态包括：方向，弧度，速度，落点，高度；将姿态匹配度确定为目标网球在虚拟球场的运动质量参数。
根据本公开的另一方面，还提供了网球训练的模拟装置，包括：采集模块，用于通过球拍采集现实球场中的击球参数，以及采集现实球场中的击球图像，其中，现实球场中部署有网球训练装置，网球训练装置包括：拦球组件；收球组件，收球组件与拦球组件相邻设置，收球组件具有收球口；给球组件，给球组件位于收球组件的远离拦球组件的一侧，收球组件将收集的网球输送至给球组件，给球组件具有出球口；第一计算模块，用于根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数；第二计算模块，用于基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数，其中，目标网球的球场包括现实球场和虚拟球场；渲染模块，用于采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹，其中，目标网球的运动轨迹包括第一运动轨迹和第二运动轨迹。
根据本公开的另一方面，还提供了存储介质，该存储介质包括存储的程序，程序运行时执行上述方法中的步骤。
根据本公开的另一方面，还提供了电子设备，包括处理器、通信接口、存储器和通信总线，处理器、通信接口、存储器通过通信总线完成相互间的通信，其中：存储器用于存放计算机程序；处理器用于通过运行存储器上所存放的程序来执行上述方法中的步骤。
在某些实施方案中，支撑框架组件对收球组件起到支撑的作用，练习人员将网球击打至收球组件后，收球组件收球后进入传球组件，传球组件将网球传至弹性给球组件进行给球。这样可以减少工作人员捡球、抛球，大大地减少了工作人员捡球抛球的工作量， 提高了练习人员的体验。有效地解决了网球训练时，不仅浪费人力还影响练习人员的体验的问题。
在某些实施方案中，通过计算目标网球在现实球场中运动时的第一轨迹参数和虚拟球场中运动时的第二轨迹参数，并渲染目标网球在虚拟球场中的运动轨迹，采用现实球场和虚拟球场相结合的方式，解决了场地限制，解决了不能通过虚拟球场拓展运动场地的技术问题。
附图的简要说明
此处所说明的附图用来提供对本公开的进一步理解，构成本公开的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。
为了更清楚地说明本公开实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出了本公开实施例一的网球训练装置的整体结构示意图；
图2示出了图1的网球训练装置的俯视示意图；
图3示出了图2的网球训练装置的收球组件的A-A剖视示意图；
图4示出了图1的网球训练装置的传球组件的结构示意图；
图5示出了图4的传球组件的A向示意图；
图6示出了图1的网球训练装置的弹性给球组件的结构示意图；
图7示出了图6的弹性给球组件的局部放大示意图；
图8示出了图1的网球训练装置的支撑框架组件的局部结构示意图；
图9示出了本公开实施例二的网球训练装置的整体结构示意图；
图10示出了图9的网球训练装置的支撑框架组件和收球组件的配合结构示意图；
图11根据本公开一实施例的网球训练的模拟方法的流程图；
图12是本公开一实施例中系统的结构图；
图13是公开一实施例的操作流程图；
图14是根据本公开一实施例的网球训练的模拟装置的结构框图。
图15是根据本公开一实施例的电子设备的结构框图。
其中，上述附图包括以下附图标记：
10、支撑框架组件；20、收球组件；21、高速摄像头；22、投
影仪；30、传球组件；31、传输壳体；32、主动轮；33、环形传输带；34、从动轮；35、挡球板；40、弹性给球组件；41、给球壳体；42、转动抛球臂；43、转动架；44、电磁线圈；45、铁磁体；46、弹性件；47、弹力调节器；48、第一限位部；49、第二限位部；50、第二驱动部；60、安装座；70、控制组件；100、练习人员；200、网球拍；300、网球；14.1、拉丝，14.2、盘丝轮，14.3、长轴，14.4、从动齿轮，14.5、传动齿轮，14.6、收球槽折叠电机；14.7、进球硬板；13、侧网转轴，14、斜面伞形齿轮A，15、斜面伞形齿轮B，16、顶网转轴，17、管式电机，18、外接电源线，19、电机轴及轴套，50.1、侧网边框，50.2、侧网边框长槽，50.3、顶网前梁，50.4、顶网前梁长槽，50.5、滑动销，5、网球训练的模拟装置，51、采集模块，52、第一计算模块，54、第二计算模块，56、渲染模块，6、电子设备，61、处理器，62、通信接口，63、存储器。
详述
为了使本技术领域的人员更好地理解本公开方案，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分的实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例， 都应当属于本公开保护的范围。需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。
需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
如图1至图8所示，实施例一的网球训练装置，包括：支撑框架组件10、收球组件20、传球组件30和弹性给球组件40。收球组件20与支撑框架组件10的靠近发球侧相邻设置。传球组件30的进球口与收球组件20相连。弹性给球组件40与传球组件30的出球口相连，弹性给球组件40可将网球向远离支撑框架组件10的一侧弹射。
本实施例的技术方案，支撑框架组件10对收球组件20起到支撑的作用，练习人员将网球300击打至收球组件20后，收球组件20收球后进入传球组件30，传球组件30将网球300传至弹性给球组件40进行给球。这样可以减少工作人员捡球、抛球，大大地减少了工作人员捡球抛球的工作量，提高了练习人员的体验。本实施例的技术方案有效地解决了相关技术中的网球训练时，不仅浪费人力还影响练习人员的体验的问题。
需要说明的是，收球组件20包括挡球幕布、两侧的挡球网以及下部的折叠收球槽。练习人员将网球300击打至挡球幕布，两侧的挡球网可以防止网球300弹出，网球300落入折叠收球槽内，折叠收球槽倾斜设置，网球300在重力的作用下滚动到传球组件 30内。折叠收球槽包括多个倾斜板，可以对多个倾斜板进行折叠或者展开。
如图6和图7所示，在本实施例的技术方案中，弹性给球组件40包括给球壳体41、转动抛球臂42、转动架43和第一驱动部，转动架43安装在给球壳体41内，转动抛球臂42的中部可转动地与转动架43相连，转动抛球臂42的抛球端位于转动架43的背离支撑框架组件10的一侧，第一驱动部与转动抛球臂42的施力端相配合，施力端位于转动架43的远离抛球端的一侧。弹性给球组件40的设置可以节省人工抛球，给球壳体41可以起到保护内部部件的作用，转动抛球臂42、转动架43和第一驱动部的设置使得抛球效果更好，模拟更加逼真。上述对位置的描述指的是转动架43与转动抛球臂42的配合部，转动架43可以为支撑，也可以为转动轴。
如图6和图7所示，在本实施例的技术方案中，第一驱动部包括电磁线圈44、铁磁体45和弹性件46，铁磁体45固定在施力端，电磁线圈44固定在给球壳体41上，弹性件46第一端连接在铁磁体45和转动架43之间的施力端，弹性件46的第二端与给球壳体41相连。当电磁线圈44通电时，电磁线圈44对铁磁体45进行吸引，当电磁线圈44断电时，电磁线圈44与铁磁体45之间没有相互吸引的作用力，此时弹性件46对转动抛球臂42施加弹性力，位于抛球端的网球300突然抛出，练习人员可以击打网球300进行训练。需要说明的是，弹性件46为弹簧，弹簧处于压缩状态。弹性件46的第二端与给球壳体41相连，可以为直接相连也可以为间接相连。本实施例弹性给球组件40位于支撑框架组件10的在左右方向的中部，挡球幕布设置有抛球孔。作为其它可实施的实施方式，弹性给球组件40可以设置在收球组件20的靠近练习人员100的一侧，练习人员100手持网球拍200对网球300进行击打，这样可以不用在挡球幕布上设置抛球孔。
如图6和图7所示，在本实施例的技术方案中，第一驱动部还包括弹力调节器47，弹力调节器47包括调节器壳体、转轴和抵 压块，调节器壳体与给球壳体41相连，抵压块与转动轴固定相连，转动轴可转动地固定在调节器壳体上，抵压块与弹性件46的第二端相抵，抵压块的周向外壁至转动轴的距离不同。弹力调节器47的设置可以有效地改变抛球的速度、高度以及力度。需要说明的是，抵压块的周向外壁指的是与弹性件46相抵顶的壁面，随着转动轴的转动，抵压块与弹性件46的配合位置发生变化。
如图6和图7所示，在本实施例的技术方案中，抛球端具有凹槽。网球300会自动滑入凹槽内，凹槽的设置容易对网球300进行定位。
如图6和图7所示，在本实施例的技术方案中，弹性给球组件40还包括贮球盒和落球管，落球管的上端与贮球盒相连通，落球管的下端与给球壳体41相连通。贮球盒的设置可以同时容纳多个网球300，落球管可以使得网球300从贮球盒滑入至给球壳体41内。
如图6所示，在本实施例的技术方案中，落球管的内径大于网球的外径小于两倍的网球的外径。这样一次只能滑落一个网球300。
如图6所示，在本实施例的技术方案中，弹性给球组件40还包括第一限位部48，第一限位部48固定在给球壳体41的内壁，转动抛球臂42具有抛球状态和待抛球状态，转动抛球臂42处于抛球状态时，第一限位部48的下端与转动抛球臂42之间的距离小于网球的外径，转动抛球臂42处于待抛球状态时，第一限位部48的下端与转动抛球臂42之间的距离大于网球的外径。第一限位部48的设置保证了凹槽内只会具有一个网球300，根据第一限位部48和转动抛球臂42的配合关系，抛出一个网球300后，另一个网球300才会滑入凹槽内。
如图6所示，在本实施例的技术方案中，转动抛球臂42具有落球点，落球点位于抛球端和转动抛球臂42的转动轴之间，第一限位部48的下端位于落球点和抛球端之间。上述结构设置巧妙，较好的实现了网球300的逐个输出至凹槽内。
如图6所示，在本实施例的技术方案中，弹性给球组件40还 包括第二限位部49，第二限位部49位于转动抛球臂42上，转动抛球臂42处于抛球状态时，第二限位部49处于避开落球管的下端的避开位置，转动抛球臂42处于待抛球状态时，第二限位部49处于落球管的下端的限位位置。第二限位部49的设置使得网球300从落球管进入给球壳体41内为逐个网球滑入，这样避免了网球300之间的卡位现象。
如图6所示，在本实施例的技术方案中，第二限位部49为限位臂，限位臂的第一端与转动抛球臂42相连，限位臂的第二端向远离落球管的下端延伸。限位臂的结构简单，加工成本较低，使用方便。
如图6和图7所示，在本实施例的技术方案中，弹性给球组件40还包括第二驱动部50和安装座60，第二驱动部50固定在安装部，给球壳体41可转动地安装在安装座60上，第二驱动部50可驱动安装座60转动。上述结构扩大的抛球范围，即弹性给球组件40除了会在正前方抛出网球300外，还会向斜前方抛出网球，这样扩大了网球训练装置的通用性。
如图6和图7所示，在本实施例的技术方案中，第二驱动部50包括旋转电机和第一齿轮，弹性给球组件40还包括第二齿轮，第二齿轮可转动地安装在安装座60上，给球壳体41固定在第二齿轮上，旋转电机的输出端与第一齿轮相连，第一齿轮与第二齿轮相啮合。上述结构紧凑，传动精度较高。
如图4和图5所示，在本实施例的技术方案中，传球组件30包括传输壳体31、主动轮32、环形传输带33、从动轮34和多个挡球板35，主动轮32、环形传输带33、从动轮34和多个挡球板35均位于传输壳体31内，主动轮32和从动轮34分别位于环形传输带33的两端，多个挡球板35相间隔地设置在环形传输带33的外壁，传输壳体31的底部具有进球口，传输壳体31的上部具有出球口，传输壳体31的进球口与收球组件20相连，传输壳体31的出球口与弹性给球组件40相连。传球组件30的设置实现了自动化传输网球300的功能，提高了网球训练装置的自动化程度。传 输壳体31、主动轮32、环形传输带33、从动轮34和多个挡球板35，上述部件的设置可以实现网球300连续的进行传输，保证了网球传输的连续性。
如图4所示，在本实施例的技术方案中，进球口为两个，两个进球口分别位于环形传输带33的两侧的传输壳体31的壁面上，两个进球口交错设置。这样可以两个网球300同时进入传输壳体31内，上述结构提高了网球300传输的效率。
如图1所示，在本实施例的技术方案中，收球组件20固定在支撑框架组件10上。上述结构比较稳固，一体化效果比较好。
如图1所示，在本实施例的技术方案中，网球训练装置还包括控制组件70，控制组件70设置在支撑框架组件10上。控制组件70的设置进一步提高了智能化的程度，控制组件70可以为云服务器、手机和/或电脑。
需要说明的是，如图2和图3所示，支撑框架组件10还包括13、侧网转轴，14、斜面伞形齿轮A，15、斜面伞形齿轮B，16、顶网转轴，17、管式电机，18、外接电源线，19、电机轴及轴套。拉丝14.1，盘丝轮14.2，长轴14.3，从动齿轮14.4，传动齿轮14.5、收球槽折叠电机14.6和进球硬板14.7。
通过上述可知：智能型网球基础训练装置，包括主框体、击球幕、折叠收球槽、升球系统、抛球系统(弹性给球组件40)、带感应器专用网球拍、伸缩拦网(布)、高速摄像头、投影仪、电控箱、操作按钮盒和云服务器等。
主框体(支撑框架组件10)由铝合金型材框架及封闭板构成。其宽*高*厚度尺寸分别为：3000*3000*300mm。主框体的前面装射击球幕、折叠收球槽和伸缩拦网(布)；框体下部中间部位装设升球系统和抛球系统；顶部伸缩拦网的前杆上安装了高速摄像头和投影仪，电控和操作系统装设在主框体内的侧边。可落地安装于室外或室内各种有硬质地面的场所，适合从初学到进级各阶段的网球练习者。
该网球训练装置成套整体出厂，现场所找平落地安装或挂装， 接上电源即可投入使用。训练时，先打开电源开关，手机扫码登录，一键开启网球训练装置，前面的伸缩拦网(收球组件的两侧的挡球网)自动伸出，升球系统、抛球系统、高速摄像头21和投影仪22等自动投入运行。在另备的球(网球300)和球拍(网球拍200)领取箱处领出球拍和一定数量的网球(比如20个，非初次练习则不需领球，球已预存在练习装置内)，即可先进行发球练习。练习发球时可先关闭升球系统和抛球系统，所发球打到击球幕上掉入下面的折叠收球槽内，并集中存于升球系统的进球口前部位，一篮球发完后可将收球槽内的网球捡拾放到网球篮内，回位后继续练习发球。
当练习击球时，则依次打开升球系统和抛球系统，并选择好抛球力度和角度(或选择左侧/右侧击球)，收球槽内的网球即可通过升球系统进入到抛球系统，按设定的方向和力度抛出到指定位置，供练习者练习击球。击出的网球被打到击球幕上后又掉落至收球槽内，循环往复进行击球练习。
发球和击球练习中，装置自带的高速摄像头会对每次发球/击球时的肢体动作、击球瞬间、球的初始飞行轨迹等进行录像并通过内置的特定算法予以识别，模拟击出的网球在标准网球场上的飞行轨迹和落点，自动对比装置内置的评测标准，给予练习者一个清晰的评分。并将评测结果投影于击球幕上。
停止练习时，先关掉抛球系统，让升球系统继续运行一定时间，待收球槽内的网球全部经升球系统进入到抛球球系统的贮球盒后，再关闭升球系统，伸缩拦网退回复位，整个电源关闭。练习者可在手机上进行结算和查看本次训练的统计结果。
如图10所示，实施例二的技术方案与实施例一的区别在于，网球训练装置没有控制组件70。这样可以根据个人的情况，选取不同的网球训练装置。
如图9所示，收球组件20的细节结构为：侧网边框50.1，侧网边框长槽50.2，顶网前梁50.3，顶网前梁长槽50.4和滑动销50.5，通过滑动销50.5的滑动实现侧网边框50.1的收起或者展开。
网球训练装置上，少装主框体顶部和两侧的伸缩拦网(布)，高速摄像头安装在主框体上缘横杆上，不装投影仪，而在击球幕的上部设一块LED电子显示屏，用于即时显示每次击球的评测结果，主框体内还装设有灯管或灯带，与击球幕一起形成可清楚显示的灯箱，方便晚间练习时清楚地看到网球在击球幕上的落点位置。该实施例适应于安装在现有标准网球场内的边网和端网上，采用专门的挂装支架挂装，不练习时占用的场地非常小，不影响对打和球场上的训练。
使用方法和训练过程也与实施例一相同，所不同的是练习中没有将模拟和评测结果投影显示在击球幕上，而是将评测结果在LED显示屏上显示。
实施例三的技术方案与实施例一的区别在于，在实施例一的基础上，不装高速摄像头和投影仪，也不装LED显示屏，不配置评测和模拟软件，而改为在击球幕上通过划线和颜色区分将击球幕分成不同得分区域，网球打在某个落球区域就表示网球在标准网球场上会落到对应的得分区内，通过人眼观察粗略地判断每次击球的优劣。主框体内还装设有灯管或灯带，与击球幕一起形成可清楚显示的灯箱，方便光线不佳时段练习时清楚地看到网球在击球幕上的落点位置。该实施方式适合在相对落后的地方(如边远山区)的学校和其他场所使用，费用低廉，维护量少且简单。为防止室外安装网球飞出难捡，保留主框体顶面和两侧的伸缩网(布)。主框体采用落地安装方式，四个落地脚通过螺栓固定于基础预埋铁上，或膨胀螺栓固定于找平的硬化地面上。
使用方法和训练过程也与实施例一基本相同，但不对每次发球或击球进行识别和模拟，也不进行电脑软件测评。仅通过人眼观察在击球幕上的落球位置来进行简单的判定。
本公开一实施例提供的方法可以在手机、控制器、服务器、计算机或者类似的运算调度装置中执行。
在本实施例中提供了网球训练的模拟方法，图11是根据本公 开实施例的网球训练的模拟方法的流程图，如图11所示，该流程包括如下步骤：
步骤S202，通过球拍采集现实球场中的击球参数，以及采集现实球场中的击球图像，其中，现实球场中部署有网球训练装置，网球训练装置包括：拦球组件；收球组件，收球组件与拦球组件相邻设置，收球组件具有收球口；给球组件，给球组件位于收球组件的远离拦球组件的一侧，收球组件将收集的网球输送至给球组件，给球组件具有出球口，本实施例的方案可以应用在网球等击打类型的球类运动的训练中，可以利用较小的场地模拟出真实的训练效果；
步骤S204，根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数，在一个示例中，第一轨迹参数包括第一运动轨迹的轨迹终点参数；
步骤S206，基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数，其中，目标网球的球场包括现实球场和虚拟球场，本实施例的虚拟球场是三维虚拟球场，通过幕布、显示屏等显示在现实球场边界上，从而实现与现实球场之间的虚拟结合，成为一个完整的球场。
步骤S208，采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹，其中，目标网球的运动轨迹包括第一运动轨迹和第二运动轨迹。
第一运动轨迹和第二运动轨迹组成了目标网球运动的完整轨迹，用户通过肉眼观测现实球场上飞行的第一运动轨迹，在显示端上实时观看虚拟球场上飞行的第二运动轨迹，从而体验到完整的击球过程和体验。
通过上述步骤，通过球拍采集现实球场中的击球参数，以及采集现实球场中的击球图像，根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数，基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数，其中，目标网球的球场包括现实球场和虚拟球场，采用第二轨迹参数渲染目标网球在 虚拟球场中运动时的第二运动轨迹，其中，目标网球的运动轨迹包括第一运动轨迹和第二运动轨迹，通过计算目标网球在现实球场中运动时的第一轨迹参数和虚拟球场中运动时的第二轨迹参数，并渲染目标网球在虚拟球上中的运动轨迹，采用现实球场和虚拟球场相结合的方式，解决了场地限制，解决了相关技术中不能通过虚拟球场拓展运动场地的技术问题。
在本实施例的一个实施方式中，通过球拍采集现实球场中的击球参数包括：通过球拍上的速度传感器采集现实球场中的击球速度；通过球拍上的方向传感器采集现实球场中的击球角度；通过球拍上的高度传感器采集现实球场中的击球高度；其中，击球参数包括：击球速度，击球角度，击球高度。将速度传感器，方向传感器，高度传感器在击球过程(球和拍面接触)中的最大值作为输出的击球速度，击球角度，击球高度。
本实施例的击球高度可以是球拍拍面中心的高度，在某些实施方案中，还可以通过球拍上的位置传感器采集现实球场中在球拍上的击球位置。除了通过传感器采集之外，也可以通过图像传感器采集图像帧，通过目标检测算法定位图像帧中的目标网球，通过连续时间采集的图像帧计算击球过程中目标网球的位置变化，结合现实球场中的参照物，进而计算出击球参数，包括击球速度，击球角度和击球高度。
在本实施例中，采集现实球场中的击球图像包括：通过摄像单元采集击球过程中的身体动作图像和球体运动图像，其中，该现实球场部署有多个摄像单元，部署在不同的位置，可以实现360全景图像采集。
在本实施例的一个实施方式中，根据击球参数和击球图像计算目标网球在现实球场中第一运动轨迹的第一轨迹参数包括：
S11，采用击球参数计算目标网球的第一初始运动参数，其中，第一初始运动参数包括：起点运动速度，起点运动方向，起点高度；
S12，获取现实球场中的环境阻力系数，该环境阻力系数可以是经验值，预先配置在控制装置中；
S13，采用第一初始运动参数和环境阻力系数计算目标网球在现实球场中第一运动轨迹的轨迹终点参数，其中，轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；
S14，采用击球图像修正第一运动轨迹的轨迹终点参数。
本实施例的击球图像用于对击球参数进行校正和选择，例如，通过击球图像，选择球体最后离开球拍时的感应数据作为第一初始运动参数，采用身体动作图像和球体运动图像，基于图像视觉算法计算球体的运动速度和运动方向，运动高度，然后与球拍采集的击球参数进行加权求和，或者选择最大值，作为最终输出的第一初始运动参数。
通过采集多帧击球图像，如网球在飞行过程中，飞行结束时的关键图像，基于视觉算法进行采样和计算，可以得到动态轨迹(第一运动轨迹)的轨迹终点参数。
在一个示例中，采用第一初始运动参数和环境阻力系数计算目标网球在现实球场中第一运动轨迹的轨迹终点参数包括：获取现实球场的第一球场长度，以及获取目标网球的球体重量；将第一球场长度设置为目标网球在现实球场中第一运动轨迹的最长水平长度，采用第一初始运动参数、球体重量、环境阻力系数计算目标网球运行第一球场长度后的轨迹终点参数。
由于目标网球在离开球拍后做水平方向或斜上方的抛物落体运动，在已知球体重量、环境阻力系数，初速度(速率和方向)，起点高度等参数的情况下，可以计算其在水平方向的运动距离，如果限定水平方向运动的最长水平长度，则可以反向计算球体在到达最长水平长度时的高度，终点运动速度，终点运动方向等。
在本实施例的另一示例中，还可以在现实球场的边界位置设置的显示端(如投影仪幕布，显示屏)上设置感应器，该边界是现实球场和虚拟球场之间的边界，球体通过边界进入虚拟球场(视觉上)，感应器可以感知目标网球到达边界时的落点运动参数，将该落点运动参数作为轨迹终点参数，包括：终点运动速度，终点运动方向，终点高度。
在本实施例的一个实施方式中，基于第一轨迹参数计算目标网球在虚拟球场的第二轨迹参数包括：确定第一轨迹参数中目标网球在现实球场中第一运动轨迹的轨迹终点参数，其中，轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；将轨迹终点参数配置为目标网球在虚拟球场的第二初始运动参数；采用第二初始运动参数计算目标网球在真实场景中模拟运动的中间运动参数和终止运动参数，并将中间运动参数和终止运动参数确定为目标网球在虚拟球场的第二轨迹参数。
由于本实施例的现实球场和虚拟球场是相邻且无缝衔接的，边界为显示虚拟球场的幕布等显示端，因此球体在现实球场终点的运动参数(轨迹终点参数)即为虚拟球场的初始运动参数，基于该轨迹终点参数，球体在虚拟场球上继续飞行，直到终点和静止。本实施例通过先采用第二初始运动参数模拟球体在真实场景中运动，将运动过程和运动结束时的运动参数作为虚拟球场的第二轨迹参数。
在一个示例中，采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹包括：采用第二轨迹参数拟合目标网球在世界坐标系上的第三运动轨迹；获取虚拟球场的缩略坐标系，并将第三运动轨迹从世界坐标系转换至缩略坐标系，得到第二运动轨迹；在虚拟球场所在的虚拟画面上动态显示第二运动轨迹。
本实施例的第二轨迹参数包括多个时间点的运动速率，方向，(相对地面参考物)垂直高度，水平高度，通过拟合，可以生成运动轨迹，由于虚拟球场是与真实球场呈比例缩小的，所以需要按照虚拟球场的缩略坐标系进行转换和映射，得到缩小后的第二运动轨迹(第二运动轨迹与第三运动轨迹的走势相同，坐标值不同)。
在某些实施方案中，在采用第二轨迹参数渲染目标网球在虚拟球场中运动时的第二运动轨迹之后，还包括：根据所述击球参数和所述击球图像计算击球人员的击球动作参数，其中，所述击球动作参数用于表征所述击球人员击球时的动作标准程度；根据所述击球参数和所述击球图像计算目标网球在所述虚拟球场的运动质 量参数，其中，所述运动质量参数用于表征所述目标网球被击球人员打击后运动轨迹的标准程度。
本实施例的击球动作参数和运动质量参数可以通过评测分数或等级呈现给用户，显示在客户端上，网球姿势的纠偏时，通过人体姿势识别，包括手、肘、肩和腰，步法等关键点的追踪数据，复原运动员的全身动作，用来与标准动作比对，得出评测分，让运动员明白打球姿势的错误，追求更高、更符合标准姿势的期待值，从而提高击球水平。
在一个示例中，根据所述击球参数和所述击球图像计算击球人员的击球动作参数包括：
S21，从所述击球图像中解析出多个运动肢体节点；
S22，从所述多个运动肢体节点中选择若干个关键肢体节点，其中，所述关键肢体节点是网球训练过程中需要发力的肢体节点，所述关键肢体节点包括：手、肘、肩、腰、脚；
S23，采用所述若干个关键肢体节点创建动态3D人体模型，并根据所述动态3D人体模型的运动幅度计算击球人员的击球动作参数；
S24，采用所述击球参数修正所述击球动作参数。
在某些实施方案中，根据所述动态3D人体模型的运动幅度计算击球人员的击球动作参数包括：在起始挥拍时间，中间挥拍时间，结束挥拍时间定格所述动态3D人体模型；在预设坐标系中添加所述动态3D人体模型被定格后关键肢体节点的坐标位置组合，其中，坐标位置组合包括对应关键肢体节点在起始挥拍时间，中间挥拍时间，结束挥拍时间的坐标位置；针对每个关键肢体节点，按照定格时间依次连接坐标位置组合中的所有坐标位置，生成肢体运动轨迹；计算所述肢体运动轨迹与预设标准动作轨迹的动作匹配度；将所述动作匹配度确定为击球人员的击球动作参数。
除了图像视觉识别之外，还可以通过硬件识别，通过在球拍前端安置一个追踪器，追踪器提供轨迹数据，计算机可以复原球拍的轨迹，用来与标准球拍轨迹比对，得出评测分或等级。
在一个示例中，根据所述击球参数和所述击球图像计算目标网球在所述虚拟球场的运动质量参数包括：根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；基于所述第一轨迹参数计算所述目标网球在所述虚拟球场的第二轨迹参数；采用所述第二轨迹参数拟合所述目标网球在所述虚拟球场中运动时的第二运动轨迹；计算所述第二运动轨迹与预设标准运动轨迹的姿态匹配度，其中，所述预设标准运动轨迹的运动姿态包括：方向，弧度，速度，落点，高度；将所述姿态匹配度确定为所述目标网球在所述虚拟球场的运动质量参数。
通过计算和识别网球的落点，球速，旋转，弧度等轨迹参数，计算和模拟击出网球是否过网，过网以后在球场的飞行姿态，落点(根据落点质量划分区域)，根据击球力度，落点难度等划分落点区域相对应的评测分数，给击球员直观的评测分数。
在本实施例的一个实施方式中，在根据所述击球参数和所述击球图像计算击球人员的击球动作参数之后，还包括：判断所述击球动作参数是否低于第一标准阈值；若所述击球动作参数低于第一标准阈值，从所述击球动作参数的多个参数项中选择动作参数最低的第一肢体节点，其中，所述击球动作参数包括多个参数项，每个参数项对应一个动作参数；在预设数据库中查找与所述第一肢体节点相关的第一动作纠偏资源；向用户终端推送所述第一动作纠偏资源。
在本实施例的另一个实施方式中，在根据所述击球参数和所述击球图像计算目标网球在所述虚拟球场的运动质量参数之后，还包括：判断所述运动质量参数是否低于第二标准阈值；若所述击球动作参数低于第二标准阈值，从所述运动质量参数的多个参数项中选择质量参数最低的运动姿态，其中，所述运动质量参数包括多个参数项，每个参数项对应一个质量参数，所述运动姿态包括：方向，弧度，速度；在预设映射表中查找与所述运动姿态的关联度最大的第二肢体节点；在预设数据库中查找与所述第二肢体节点相关的第二动作纠偏资源；向用户终端推送所述第二动作纠偏资 源。
本实施例的动作纠偏资源可以是标准动作的教学视频，图片，文字说明，也可以是教学课程，购买链接等。
在一些示例中，在通过球拍采集现实球场中的击球参数，以及采集所述现实球场中的击球图像之前，还包括：在人机交互界面输入训练参数信息，其中，所述训练参数信息包括：球员水平级别，训练课程，训练项目；采用所述训练参数信息生成所述击球动作参数的第一标准阈值和所述运动质量参数的第二标准阈值。
本实施例通过计算击球动作参数和运动质量参数，训练者或者其他人可以依此判断训练者在进行网络训练时的动作和球路是否符合标准，进而进行针对性改进和提升。提供给击球人员一个综合的参数指标，对每次击球进行总结，直观地看到自己的进步，提高打球的兴趣和信心，提高人机交互效率。
图12是本公开实施例中系统的结构图，包括：摄像头，感应测量元件(速度传感器等)，控制箱，现场服务器，手操箱，投影仪，云服务器，手机终端。图13是公开实施例的操作流程图，在此以目标网球为网球为例，在此进行说明，基于AI智能评测的网球基础模拟训练方法包括：
采用摄像单元记录运动员多点的身体动作和运动轨迹；
在特制的网球拍上加装感应元件，精确捕捉球拍击球和力度和角度；
运用人工智能(AI)算法对运动员的发球和正反手挥拍动作的肢体节点进行仿真模拟，记录动作数据进行比对，完成运动员的动作纠偏和矫正；
采用网球飞行轨迹感应单元记录网球的飞行轨迹，监测的数据包括球速，击球点位置，飞行方向等；
运用3D算法仿真模拟网球的飞行轨迹，预测击出的网球在球场上的高度和落点，判断击球的有效性；并采用影像化功能实现虚拟实际网球场地打球场景，帮助运动员判断击球的有效性。
本实施例的系统在功能上包括以下单元：
感应单元，包括数据监测单元，采用红外线感应单元，RGB摄像头等对运动员的肢体节点，网球运动轨迹等数据进行监测和收集；
数据传输单元，将监测和收集的数据转化为数字信号传输给服务器；
服务器的中央数据控制单元，具有强大的运算功能，对数据进行AI运算和3D模拟仿真，提供数据库参数对比，给运动员反馈训练效果和动作矫正；
服务器的数据存储和分析单元，对运动员的训练效果进行时间周期的积累、分析和优化，并发送周期性的分析报告；
云平台管理单元，运动员的数据通过互联网、5G等通讯协议上传云平台，进行后台综合管理；
信息分享单元，采用手机APP的方式与运动员进行信息共享，包括账号管理，场地预约，运动统计，教练预约等功能；
自然人机交互单元，采用人脸、指纹或语音识别功能，方便系统的各种功能和参数的切换，提高运动员的运动体验感。
通过监测的运动员肢体节点运动和网球的飞行轨迹，包括网球发球和正反手挥拍，实现初学者对网球基础动作的快速掌握和熟练，尽快适应网球运动，享受网球运动的快乐。
所述的监测数据还包括运动员的肢体节点数据，手，肩，腰，步法等关键参数；所述的监测数据还包括网球拍的运动轨迹，用于精确模拟和评测运动员的身体动作准确性；所述的网球击球模拟系统具有多套，均可实现与服务器连接，进行数据的存储，分析和分享；全部终端数据可采用5G等通信协议连接互联网，实现同步在云平台共享，通过手机APP与用户互动；所述的网球击球模拟系统还采用人脸、指纹或语音识别功能，方便各种功能和参数的切换，提高运动员的体验感。
本实施例的方案记载了网球基础动作的模拟训练方法，训练网球初学者的正反手击球和发球的基础动作，迅速掌握网球运动基本技能，提高网球爱好者的兴趣，尽快与实战相结合。网球初学 者在特定训练区域内，站在设定位置上挥拍击打从上方固定位置垂直落下从地面反弹上来的网球，将球打在正前方的幕布上。设置在此区域内的摄像头和传感装置，通过多个感应单元，可以捕捉到运动员的正反手挥拍和发球等动作的肢体节点运动，将数据传输到中心计算机处理器，利用先进的3D算法系统，真实还原身体动作的击球准确度，通过与数据库内不同年龄和性别运动员的标准动作比对，给出相应的AI评测分数，帮助运动员纠正动作并提供运动员动作纠偏的数据统计和建议；同时，训练区域内的感应元件还可捕捉网球的飞行轨迹，输入控制中心进行分析计算，计算网球的飞行速度、弧度和方向，并预测网球击出后落到实际网球场地的具体落点，帮助运动员判断击球的准确率及有效性，及时调整击球的力度、弧度和方向。这套基于AI智能评测的网球基础模拟训练方法可以帮助网球初学者通过原地反复击球训练而迅速掌握网球运动的基本动作，纠正网球初学者的不良习惯，克服初学者的紧张心态，从而达到网球运动快速入门之目的。正确使用该模拟训练方法，参照美国网球协会NTRP(National Tennis Rating Program)标准制定，网球初学者可在短时间达到3.0-3.5级，从而帮助网球初学者迅速跨越学习初期的障碍期，享受到网球运动的快乐，有效地推动网球运动在全民运动的普及和推广。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开的技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本公开各个实施例所述的方法。
在本实施例中还提供了网球训练的模拟装置，用于实现上述实施例及实施方式，已经进行过说明的不再赘述。如以下所使用的， 术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图14是根据本公开实施例的网球训练的模拟装置5的结构框图，如图14所示，该装置包括：采集模块51，第一计算模块52，第二计算模块54，渲染模块56，其中，
采集模块51，用于通过球拍采集现实球场中的击球参数，以及采集所述现实球场中的击球图像，其中，所述现实球场中部署有网球训练装置，所述网球训练装置包括：拦球组件；收球组件，所述收球组件与所述拦球组件相邻设置，所述收球组件具有收球口；给球组件，所述给球组件位于所述收球组件的远离所述拦球组件的一侧，所述收球组件将收集的网球输送至所述给球组件，所述给球组件具有出球口；
第一计算模块52，用于根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；
第二计算模块54，用于基于所述第一轨迹参数计算所述目标网球在虚拟球场的第二轨迹参数，其中，所述目标网球的球场包括所述现实球场和所述虚拟球场；
渲染模块56，用于采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹，其中，所述目标网球的运动轨迹包括所述第一运动轨迹和所述第二运动轨迹。
在某些实施方案中，所述采集模块包括：第一采集单元，用于通过所述球拍上的速度传感器采集现实球场中的击球速度；第二采集单元，用于通过所述球拍上的方向传感器采集现实球场中的击球角度；第三采集单元，用于通过所述球拍上的高度传感器采集现实球场中的击球高度；第四采集单元，用于通过所述球拍上的力量传感器采集现实球场中的击球力度；第五采集单元，用于通过所述球拍上的追踪器采集现实球场中的球拍挥动轨迹；其中，所述击球参数包括：所述击球速度，所述击球角度，所述击球高度，击球力度，球拍挥动轨迹。
在某些实施方案中，所述第一计算模块包括：第一计算单元，用于采用所述击球参数计算所述目标网球的第一初始运动参数，其中，所述第一初始运动参数包括：起点运动速度，起点运动方向，起点高度；获取单元，用于获取所述现实球场中的环境阻力系数；第二计算单元，用于采用所述第一初始运动参数和所述环境阻力系数计算所述目标网球在所述现实球场中第一运动轨迹的轨迹终点参数，其中，所述轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；修正单元，用于采用所述击球图像修正所述第一运动轨迹的轨迹终点参数。
在某些实施方案中，第二计算单元包括：获取子单元，用于获取所述现实球场的第一球场长度，以及获取所述目标网球的球体重量；计算子单元，用于将所述第一球场长度设置为目标网球在所述现实球场中第一运动轨迹的最长水平长度，采用所述第一初始运动参数、所述球体重量、所述环境阻力系数计算所述目标网球运行所述第一球场长度后的轨迹终点参数。
在某些实施方案中，所述第二计算模块包括：确定单元，用于确定所述第一轨迹参数中所述目标网球在所述现实球场中第一运动轨迹的轨迹终点参数，其中，所述轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；配置单元，用于将轨迹终点参数配置为所述目标网球在虚拟球场的第二初始运动参数；计算单元，用于采用所述第二初始运动参数计算所述目标网球在真实场景中模拟运动的中间运动参数和终止运动参数，并将所述中间运动参数和终止运动参数确定为所述目标网球在虚拟球场的第二轨迹参数。
在某些实施方案中，所述渲染模块包括：拟合单元，用于采用所述第二轨迹参数拟合所述目标网球在世界坐标系上的第三运动轨迹；转换单元，用于获取所述虚拟球场的缩略坐标系，并将所述第三运动轨迹从所述世界坐标系转换至所述缩略坐标系，得到所述第二运动轨迹；显示单元，用于在所述虚拟球场所在的虚拟画面上动态显示所述第二运动轨迹。
在某些实施方案中，所述装置还包括：第三计算模块，用于在所述渲染模块采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹之后，根据所述击球参数和所述击球图像计算击球人员的击球动作参数，其中，所述击球动作参数用于表征所述击球人员击球时的动作标准程度；第四计算模块，用于根据所述击球参数和所述击球图像计算目标网球在所述虚拟球场的运动质量参数，其中，所述运动质量参数用于表征所述目标网球被击球人员打击后运动轨迹的标准程度。
在某些实施方案中，所述第三计算模块包括：解析单元，用于从所述击球图像中解析出多个运动肢体节点；选择单元，用于从所述多个运动肢体节点中选择若干个关键肢体节点，其中，所述关键肢体节点是网球训练过程中需要发力的肢体节点，所述关键肢体节点包括：手、肘、肩、腰、脚；计算单元，用于采用所述若干个关键肢体节点创建动态3D人体模型，并根据所述动态3D人体模型的运动幅度计算击球人员的击球动作参数；修正单元，用于采用所述击球参数修正所述击球动作参数。
在某些实施方案中，所述计算单元包括：定格子单元，用于在起始挥拍时间，中间挥拍时间，结束挥拍时间定格所述动态3D人体模型；添加子单元，用于在预设坐标系中添加所述动态3D人体模型被定格后关键肢体节点的坐标位置组合，其中，坐标位置组合包括对应关键肢体节点在起始挥拍时间，中间挥拍时间，结束挥拍时间的坐标位置；连接子单元，用于针对每个关键肢体节点，按照定格时间依次连接坐标位置组合中的所有坐标位置，生成肢体运动轨迹；计算子单元，用于计算所述肢体运动轨迹与预设标准动作轨迹的动作匹配度；确定子单元，用于将所述动作匹配度确定为击球人员的击球动作参数。
在某些实施方案中，所述第四计算模块包括：第一计算单元，用于根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；第二计算单元，用于基于所述第一轨迹参数计算所述目标网球在所述虚拟球场的第二轨迹参 数；拟合单元，用于采用所述第二轨迹参数拟合所述目标网球在所述虚拟球场中运动时的第二运动轨迹；第三计算单元，用于计算所述第二运动轨迹与预设标准运动轨迹的姿态匹配度，其中，所述预设标准运动轨迹的运动姿态包括：方向，弧度，速度，落点，高度；确定单元，用于将所述姿态匹配度确定为所述目标网球在所述虚拟球场的运动质量参数。
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述各个模块以任意组合的形式分别位于不同的处理器中。
本公开的实施例还提供了存储介质，该存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行本公开所述方法中的步骤。
在某些实施方案中，上述存储介质可以被设置为存储用于执行以下步骤的计算机程序：
S1，通过球拍采集现实球场中的击球参数，以及采集所述现实球场中的击球图像，其中，所述现实球场中部署有网球训练装置，所述网球训练装置包括：拦球组件；收球组件，所述收球组件与所述拦球组件相邻设置，所述收球组件具有收球口；给球组件，所述给球组件位于所述收球组件的远离所述拦球组件的一侧，所述收球组件将收集的网球输送至所述给球组件，所述给球组件具有出球口；
S2，根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；
S3，基于所述第一轨迹参数计算所述目标网球在虚拟球场的第二轨迹参数，其中，所述目标网球的球场包括所述现实球场和所述虚拟球场；
S4，采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹，其中，所述目标网球的运动轨迹包括 所述第一运动轨迹和所述第二运动轨迹。
在某些实施方案中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储计算机程序的介质。
如图15所示，本公开的实施例还提供了电子设备6，包括处理器61、通信接口62、存储器63和通信总线64，处理器61、通信接口62、存储器63通过通信总线64完成相互间的通信，该存储器63中存储有计算机程序，该处理器61被设置为运行存储器63上所存放的计算机程序以执行本公开所述方法中的步骤。
在某些实施方案中，上述电子设备6还可以包括传输设备以及输入输出设备(未图示)，其中，该传输设备和上述处理器61连接，该输入输出设备和上述处理器61连接。
存储器63可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器63可进一步包括相对于处理器61远程设置的存储器，这些远程存储器可以通过网络连接至服务器。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
在某些实施方案中，上述处理器61可以被设置为通过计算机程序执行以下步骤：
S1，通过球拍采集现实球场中的击球参数，以及采集所述现实球场中的击球图像，其中，所述现实球场中部署有网球训练装置，所述网球训练装置包括：拦球组件；收球组件，所述收球组件与所述拦球组件相邻设置，所述收球组件具有收球口；给球组件，所述给球组件位于所述收球组件的远离所述拦球组件的一侧，所述收球组件将收集的网球输送至所述给球组件，所述给球组件具有出球口；
S2，根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；
S3，基于所述第一轨迹参数计算所述目标网球在虚拟球场的第二轨迹参数，其中，所述目标网球的球场包括所述现实球场和所述虚拟球场；
S4，采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹，其中，所述目标网球的运动轨迹包括所述第一运动轨迹和所述第二运动轨迹。
在某些实施方案中，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
在本公开的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本公开所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对相关技术做 出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的实质或范围的情况下，在其它实施例中实现。因此，本公开将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (30)

  1. 网球训练装置，其包括：
    支撑框架组件；
    收球组件，所述收球组件与所述支撑框架组件的靠近发球侧相邻设置；
    传球组件，所述传球组件的进球口与所述收球组件相连；
    弹性给球组件，所述弹性给球组件与所述传球组件的出球口相连，所述弹性给球组件可将网球向远离所述支撑框架组件的一侧弹射。
  2. 根据权利要求1所述的网球训练装置，其中，所述弹性给球组件包括给球壳体、转动抛球臂、转动架和第一驱动部，所述转动架安装在所述给球壳体内，所述转动抛球臂的中部可转动地与所述转动架相连，所述转动抛球臂的抛球端位于所述转动架的背离所述支撑框架组件的一侧，所述第一驱动部与所述转动抛球臂的施力端相配合，所述施力端位于所述转动架的远离所述抛球端的一侧。
  3. 根据权利要求2所述的网球训练装置，其中，所述第一驱动部包括电磁线圈、铁磁体和弹性件，所述铁磁体固定在所述施力端，所述电磁线圈固定在所述给球壳体上，所述弹性件第一端连接在所述铁磁体和所述转动架之间的所述施力端，所述弹性件的第二端与所述给球壳体相连。
  4. 根据权利要求3所述的网球训练装置，其中，所述第一驱动部还包括弹力调节器，所述弹力调节器包括调节器壳体、转轴和抵压块，所述调节器壳体与所述给球壳体相连，所述抵压块与所述转动轴固定相连，所述转动轴可转动地固定在所述调节器壳体上，所述抵压块与所述弹性件的第二端相抵，所述抵压块的周向外壁至所述转动轴的距离不同。
  5. 根据权利要求2至4中任一权利要求所述的网球训练装置，其中，所述抛球端具有凹槽。
  6. 根据权利要求2至5中任一权利要求所述的网球训练装置， 其中，所述弹性给球组件还包括贮球盒和落球管，所述落球管的上端与所述贮球盒相连通，所述落球管的下端与所述给球壳体相连通。
  7. 根据权利要求6所述的网球训练装置，其中，所述落球管的内径大于网球的外径小于两倍的所述网球的外径。
  8. 根据权利要求6或7所述的网球训练装置，其中，所述弹性给球组件还包括第一限位部，所述第一限位部固定在所述给球壳体的内壁，所述转动抛球臂具有抛球状态和待抛球状态，所述转动抛球臂处于所述抛球状态时，所述第一限位部的下端与所述转动抛球臂之间的距离小于网球的外径，所述转动抛球臂处于所述待抛球状态时，所述第一限位部的下端与所述转动抛球臂之间的距离大于网球的外径。
  9. 根据权利要求8所述的网球训练装置，其中，所述转动抛球臂具有落球点，所述落球点位于所述抛球端和所述转动抛球臂的转动轴之间，所述第一限位部的下端位于所述落球点和所述抛球端之间。
  10. 根据权利要求8或9所述的网球训练装置，其中，所述弹性给球组件还包括第二限位部，所述第二限位部位于所述转动抛球臂上，所述转动抛球臂处于所述抛球状态时，所述第二限位部处于避开所述落球管的下端的避开位置，所述转动抛球臂处于所述待抛球状态时，所述第二限位部处于所述落球管的下端的限位位置。
  11. 根据权利要求10所述的网球训练装置，其中，所述第二限位部为限位臂，所述限位臂的第一端与所述转动抛球臂相连，所述限位臂的第二端向远离所述落球管的下端延伸。
  12. 根据权利要求2至11中任一权利要求所述的网球训练装置，其中，所述弹性给球组件还包括第二驱动部和安装座，所述第二驱动部固定在所述安装部，所述给球壳体可转动地安装在所述安装座上，所述第二驱动部可驱动所述安装座转动。
  13. 根据权利要求12所述的网球训练装置，其中，所述第二驱 动部包括旋转电机和第一齿轮，所述弹性给球组件还包括第二齿轮，所述第二齿轮可转动地安装在所述安装座上，所述给球壳体固定在所述第二齿轮上，所述旋转电机的输出端与所述第一齿轮相连，所述第一齿轮与所述第二齿轮相啮合。
  14. 根据权利要求1至13中任一权利要求所述的网球训练装置，其中，所述传球组件包括传输壳体、主动轮、环形传输带、从动轮和多个挡球板，所述主动轮、环形传输带、从动轮和多个挡球板均位于所述传输壳体内，所述主动轮和所述从动轮分别位于所述环形传输带的两端，所述多个挡球板相间隔地设置在所述环形传输带的外壁，所述传输壳体的底部具有进球口，所述传输壳体的上部具有出球口，所述传输壳体的进球口与所述收球组件相连，所述传输壳体的出球口与所述弹性给球组件相连。
  15. 根据权利要求14所述的网球训练装置，其中，所述进球口包括两个进球口，所述两个进球口分别位于所述环形传输带的两侧的所述传输壳体的壁面上，所述两个进球口交错设置。
  16. 根据权利要求1至13中任一权利要求所述的网球训练装置，其中，所述收球组件固定在所述支撑框架组件上。
  17. 根据权利要求1至13中任一权利要求所述的网球训练装置，其还包括控制组件，所述控制组件设置在所述支撑框架组件上。
  18. 网球训练的模拟方法，其包括：
    通过球拍采集现实球场中的击球参数，以及采集所述现实球场中的击球图像，其中，所述现实球场中部署有权利要求1-17中任一权利要求所述的网球训练装置；
    根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；
    基于所述第一轨迹参数计算所述目标网球在虚拟球场的第二轨迹参数，其中，所述目标网球的球场包括所述现实球场和所述虚拟球场；
    采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹，其中，所述目标网球的运动轨迹包括所述 第一运动轨迹和所述第二运动轨迹。
  19. 根据权利要求18所述的方法，其中，通过球拍采集现实球场中的击球参数包括：
    通过所述球拍上的速度传感器采集现实球场中的击球速度；
    通过所述球拍上的方向传感器采集现实球场中的击球角度；
    通过所述球拍上的高度传感器采集现实球场中的击球高度；
    通过所述球拍上的力量传感器采集现实球场中的击球力度；
    通过所述球拍上的追踪器采集现实球场中的球拍挥动轨迹；
    其中，所述击球参数包括：所述击球速度，所述击球角度，所述击球高度，所述击球力度，所述球拍挥动轨迹。
  20. 根据权利要求18或19所述的方法，其中，根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数包括：
    采用所述击球参数计算所述目标网球的第一初始运动参数，其中，所述第一初始运动参数包括：起点运动速度，起点运动方向，起点高度；
    获取所述现实球场中的环境阻力系数；
    采用所述第一初始运动参数和所述环境阻力系数计算所述目标网球在所述现实球场中第一运动轨迹的轨迹终点参数，其中，所述轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；
    采用所述击球图像修正所述第一运动轨迹的轨迹终点参数。
  21. 根据权利要求20所述的方法，其中，采用所述第一初始运动参数和所述环境阻力系数计算所述目标网球在所述现实球场中第一运动轨迹的轨迹终点参数包括：
    获取所述现实球场的第一球场长度，以及获取所述目标网球的球体重量；
    将所述第一球场长度设置为目标网球在所述现实球场中第一运动轨迹的最长水平长度，采用所述第一初始运动参数、所述球体重量、所述环境阻力系数计算所述目标网球运行所述第一球场长度后的轨迹终点参数。
  22. 根据权利要求18至21中任一权利要求所述的方法，其中，基于所述第一轨迹参数计算所述目标网球在虚拟球场的第二轨迹参数包括：
    确定所述第一轨迹参数中所述目标网球在所述现实球场中第一运动轨迹的轨迹终点参数，其中，所述轨迹终点参数包括：终点运动速度，终点运动方向，终点高度；
    将轨迹终点参数配置为所述目标网球在虚拟球场的第二初始运动参数；
    采用所述第二初始运动参数计算所述目标网球在真实场景中模拟运动的中间运动参数和终止运动参数，并将所述中间运动参数和终止运动参数确定为所述目标网球在虚拟球场的第二轨迹参数。
  23. 根据权利要求18至22中任一权利要求所述的方法，其中，采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹包括：
    采用所述第二轨迹参数拟合所述目标网球在世界坐标系上的第三运动轨迹；
    获取所述虚拟球场的缩略坐标系，并将所述第三运动轨迹从所述世界坐标系转换至所述缩略坐标系，得到所述第二运动轨迹；
    在所述虚拟球场所在的虚拟画面上动态显示所述第二运动轨迹。
  24. 根据权利要求18至23中任一权利要求所述的方法，其中，在采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹之后，所述方法还包括：
    根据所述击球参数和所述击球图像计算击球人员的击球动作参数，其中，所述击球动作参数用于表征所述击球人员击球时的动作标准程度；
    根据所述击球参数和所述击球图像计算目标网球在所述虚拟球场的运动质量参数，其中，所述运动质量参数用于表征所述目标网球被击球人员打击后运动轨迹的标准程度。
  25. 根据权利要求24所述的方法，其中，根据所述击球参数和所述击球图像计算击球人员的击球动作参数包括：
    从所述击球图像中解析出多个运动肢体节点；
    从所述多个运动肢体节点中选择若干个关键肢体节点，其中，所述关键肢体节点是网球训练过程中需要发力的肢体节点，所述关键肢体节点包括：手、肘、肩、腰、脚；
    采用所述若干个关键肢体节点创建动态3D人体模型，并根据所述动态3D人体模型的运动幅度计算击球人员的击球动作参数；
    采用所述击球参数修正所述击球动作参数。
  26. 根据权利要求25所述的方法，其中，根据所述动态3D人体模型的运动幅度计算击球人员的击球动作参数包括：
    在起始挥拍时间，中间挥拍时间，结束挥拍时间定格所述动态3D人体模型；
    在预设坐标系中添加所述动态3D人体模型被定格后关键肢体节点的坐标位置组合，其中，坐标位置组合包括对应关键肢体节点在起始挥拍时间，中间挥拍时间，结束挥拍时间的坐标位置；
    针对每个关键肢体节点，按照定格时间依次连接坐标位置组合中的所有坐标位置，生成肢体运动轨迹；
    计算所述肢体运动轨迹与预设标准动作轨迹的动作匹配度；
    将所述动作匹配度确定为击球人员的击球动作参数。
  27. 根据权利要求24至26中任一权利要求所述的方法，其中，根据所述击球参数和所述击球图像计算目标网球在所述虚拟球场的运动质量参数包括：
    根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；
    基于所述第一轨迹参数计算所述目标网球在所述虚拟球场的第二轨迹参数；
    采用所述第二轨迹参数拟合所述目标网球在所述虚拟球场中运动时的第二运动轨迹；
    计算所述第二运动轨迹与预设标准运动轨迹的姿态匹配度，其 中，所述预设标准运动轨迹的运动姿态包括：方向，弧度，速度，落点，高度；
    将所述姿态匹配度确定为所述目标网球在所述虚拟球场的运动质量参数。
  28. 网球训练的模拟装置，其包括：
    采集模块，配置为通过球拍采集现实球场中的击球参数，以及采集所述现实球场中的击球图像，其中，所述现实球场中部署有权利要求1-17中任一权利要求所述的网球训练装置；
    第一计算模块，配置为根据所述击球参数和所述击球图像计算目标网球在所述现实球场中第一运动轨迹的第一轨迹参数；
    第二计算模块，配置为基于所述第一轨迹参数计算所述目标网球在虚拟球场的第二轨迹参数，其中，所述目标网球的球场包括所述现实球场和所述虚拟球场；
    渲染模块，配置为采用所述第二轨迹参数渲染所述目标网球在所述虚拟球场中运动时的第二运动轨迹，其中，所述目标网球的运动轨迹包括所述第一运动轨迹和所述第二运动轨迹。
  29. 电子设备，其包括处理器、通信接口、存储器和通信总线，处理器、通信接口、存储器通过通信总线完成相互间的通信，其中：
    存储器配置为存放计算机程序；
    处理器配置为通过运行存储器上所存放的程序来执行权利要求18至27中任一权利要求所述的方法步骤。
  30. 存储介质，其包括存储的程序，其中，所述程序运行时执行上述权利要求18至27中任一权利要求所述的方法步骤。
PCT/CN2023/106740 2022-09-07 2023-07-11 网球训练的装置、模拟方法及装置、电子设备及存储介质 WO2024051342A1 (zh)

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