A table foreign body recognition and removal mechanical arm and billiard table thereof

Abstract

The present invention provides a table foreign body identification and removal mechanical arm and a billiard table thereof, wherein the table foreign body identification and removal mechanical arm comprises: a mechanical arm main body device and an intelligent control system, wherein the intelligent control system is associated with the mechanical arm main body device, and the intelligent control system is used to realize intelligent control of the mechanical arm main body device, and the mechanical arm main body device is started so that the mechanical arm main body device can remove foreign bodies on the table. In the intelligent control system, the sensing monitoring module is connected to the identification and analysis module, the identification and analysis module is connected to the foreign body determination module, the foreign body determination module is connected to the removal control module, and the removal control module is also connected to the identification and analysis module and the removal operation module respectively. The present invention does not require human participation to automatically identify and remove foreign bodies on the table, which not only saves manpower expenses, but also can timely discover and remove foreign bodies on the table, and will not cause accidental touches on the player's game state during the process of removing foreign bodies on the table, thereby improving the player's experience.

Description

Technical Field

[0001] The present invention relates to the technical field of identification and control, and in particular to a table foreign body identification and removal mechanical arm and a billiard table thereof. Background Art

[0002] As people's pursuit of spiritual level becomes richer and richer, billiard games are gradually becoming more and more popular. Billiard games are a kind of ball games played on the table. It not only requires players to have skills, but also requires players to have patience. Therefore, players have high requirements in all aspects when playing billiard games. At present, the table of billiard games usually needs to be manually discovered and abnormal table foreign objects are removed during use. This is not only troublesome, but also the untimely removal of table foreign objects affects the player's experience. At the same time, the game balls on the table may be moved during the process of removing table foreign objects, affecting the player's game state. Therefore, the present invention proposes a table foreign object recognition and removal mechanical arm and a billiard table thereof, which automatically recognizes and removes table foreign objects without human participation, which not only saves manpower expenses, but also can timely discover and remove table foreign objects, and will not cause accidental touches on the player's game state during the process of removing table foreign objects, thereby improving the player's experience. Summary of the invention

[0003] The object of the present invention is to provide a table foreign body recognition and removal robot arm and a billiard table thereof, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a table foreign object identification and removal robot arm and a billiard table thereof, comprising: the table foreign object identification and removal robot arm comprises: a robot arm main body device and an intelligent control system, wherein the intelligent control system comprises: an induction monitoring module, an identification and analysis module, a foreign object determination module, an elimination control module and an elimination operation module; the induction monitoring module is used to monitor and sense the table to obtain table monitoring information; the identification and analysis module is used to identify and analyze the table monitoring information, determine the objects appearing on the table, and obtain a table identification result; the foreign object determination module is used to analyze and judge whether there is a foreign object on the table according to the table identification result, and obtain a foreign object judgment result; the elimination control module is used to determine an elimination route in combination with the table identification result when there is a foreign object on the table according to the foreign object judgment result, and determine an operation control instruction for the elimination route; the elimination operation module is used to start the robot arm main body device based on the operation control instruction, lock the foreign object according to the operation control instruction, and remove the foreign object using the robot arm main body device.

[0005] Furthermore, the induction monitoring module is arranged on a table, and the induction monitoring module includes multiple induction collection units. When the induction monitoring module is laid out on the table, a performance analysis of the induction monitoring device is performed on the induction collection unit to determine the size of the monitoring area of ​​the induction collection unit. Then, the monitoring area is analyzed and divided according to the size of the monitoring area of ​​the induction collection unit in combination with the table to determine the layout of the induction collection unit, and the induction monitoring device is deployed to the corresponding position according to the layout of the induction collection unit.

[0006] Furthermore, when the recognition and analysis module recognizes and analyzes the countertop monitoring information, the countertop data recognition and analysis module is used to obtain the countertop recognition result. The countertop data recognition and analysis module includes: a preliminary analysis model and an item recognition model. The countertop monitoring information is recognized and analyzed by the countertop data recognition and analysis module, including:

[0007] Use the preliminary analysis model to conduct comparative analysis on the countertop monitoring information to obtain the current difference information of the countertop;

[0008] Analyze whether the current difference information of the table is blank information, and obtain the analysis and judgment result;

[0009] According to the analysis and judgment results, the object recognition model is used to identify the countertop monitoring information, determine the objects appearing on the countertop, and obtain the countertop recognition result.

[0010] Furthermore, the foreign matter determination module determines whether there is a foreign matter on the table according to the table recognition result analysis, including:

[0011] Analyze the items that appear in the countertop identification results and determine the current countertop item information;

[0012] Filter the current table item information according to the table game to obtain the confirmed analysis and filtering results;

[0013] Determine whether there are any items other than game items on the table according to the confirmation analysis and filtering results, and determine whether there are any foreign objects on the table, to obtain a first determination result;

[0014] According to the first determination result, the current table item information is retrieved, and the abnormal phenomenon of table game items is analyzed for the current table item information in combination with the historical table monitoring information, and it is determined whether there is an abnormal phenomenon of table game items on the table, thereby determining whether there is a foreign object on the table, and obtaining a second determination result;

[0015] When the first determination result or the second determination result is that there is a foreign object on the table, position information is determined for the foreign object to obtain the foreign object position information.

[0016] Furthermore, the position determination unit determines the position information of the foreign object, including:

[0017] When there is a foreign object on the table, the information of the foreign object is traced, the target sensing monitoring device is determined, and the target sensing collection unit is locked;

[0018] In the monitoring area of ​​the target sensing acquisition unit, the relative position relationship between the foreign object and the target sensing monitoring device is analyzed to determine the first relative position information;

[0019] The position information of the target sensing monitoring device based on the reference coordinate system is obtained, and the position information of the foreign object is determined in combination with the first relative position information.

[0020] Furthermore, the exclusion control module determines an exclusion route according to the foreign matter judgment result when there is a foreign matter on the table top in combination with the table top recognition result, and determines an operation control instruction for the exclusion route, including:

[0021] The first control configuration unit is used to configure the start control instruction of the robot arm main device according to the foreign body judgment result and to determine the recovery control instruction of the robot arm main device after the robot arm main device completes the removal of the foreign body;

[0022] A second control configuration unit is used to obtain foreign object position information according to the foreign object judgment result, and at the same time, the table recognition result is retrieved to obtain the foreign object position information and the table recognition result, and then the operation path of the robot arm main body during the foreign object removal process is analyzed according to the table recognition result combined with the foreign object position information, the fixed point of the robot arm main body device in the operation path is determined, the robot arm fixed point information is obtained, and the extension and retraction control instructions, grasping control instructions and removal control instructions of the robot arm main body device are determined according to the robot arm fixed point information.

[0023] Furthermore, after obtaining the operation control instruction, the exclusion control module transmits the operation control instruction to the exclusion operation module through the instruction transmission unit, and when responding to the operation control instruction, the instruction sequence is determined for the robot arm main body device for the foreign body removal process to obtain a control instruction sequence; the start control instruction, the recovery control instruction, the telescopic control instruction, the grasping control instruction and the removal control instruction are sequenced in accordance with the control instruction sequence to form an ideal sequence of control instructions; the instruction running time of the start control instruction, the recovery control instruction, the telescopic control instruction, the grasping control instruction and the removal control instruction are estimated respectively to determine the control instruction transmission interval; the start control instruction, the recovery control instruction, the telescopic control instruction, the grasping control instruction and the removal control instruction are sent in order according to the ideal sequence of control instructions and the control instruction transmission interval.

[0024] Furthermore, the elimination operation module starts the robot arm main body device based on the operation control instruction, locks the foreign object according to the operation control instruction and removes the foreign object by using the robot arm main body device, and also monitors the execution status of the operation control instruction, obtains the operation control instruction execution information, and performs fault analysis based on the operation control instruction execution information, and then issues a fault alarm reminder when the operation control instruction has an execution operation failure.

[0025] The present invention also provides a billiard table, comprising: a table top stone slab, a plurality of table legs and any of the above-mentioned table top foreign body identification and removal mechanical arms, the table top stone slab and the plurality of table legs are connected to form a billiard table basic frame, and the table top foreign body identification and removal mechanical arm is arranged under the table top stone slab through a telescopic device.

[0026] The present invention realizes intelligent control of the robotic arm by combining an intelligent control system with a robotic arm main body device, so that when foreign objects appear on the table, they can be identified in time and removed by the robotic arm. There is no need for manual identification and removal of foreign objects, which saves manpower expenses and avoids accidental touches on the game state of the table during manual removal of foreign objects, thereby improving the player experience.

[0027] The present invention realizes real-time monitoring of the table surface through the sensing monitoring module, so that the situation on the table surface can be obtained in real time, so that foreign matter analysis and removal can be carried out on the table surface in time, and the recognition and analysis module is used to perform recognition based on the table surface monitoring information, realize the conversion of the table surface monitoring information, determine the objects appearing on the table surface, provide data support for the foreign matter determination module, and facilitate the foreign matter determination module to judge whether there are foreign matters on the table surface, so that the foreign matter judgment result can be determined in a shorter time, and the efficiency of the analysis and judgment of the foreign matter determination module is improved. In addition, the operation control instruction of the mechanical arm main device for foreign matters is determined by the exclusion control module, so that the mechanical arm main device can automatically execute the operation control instruction, so that the mechanical arm main device can accurately lock the foreign matters on the table surface and remove the foreign matters on the table surface, reduce the influence of the foreign matters on the players, and ensure the effectiveness of the removal of foreign matters on the table surface.

[0028] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of a table foreign body recognition and removal mechanical arm according to the present invention;

[0032] Figure 2 A schematic diagram of the steps of the recognition and analysis module in the table foreign body recognition and elimination mechanical arm of the present invention;

[0033] Figure 3 A schematic diagram of an elimination control module in a table foreign body identification and elimination mechanical arm according to the present invention;

[0034] Figure 4 This is another schematic diagram of the removal control module in the table foreign object recognition and removal robot arm described in the present invention. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0036] like Figure 1 As shown, an embodiment of the present invention provides a table foreign body recognition and removal robot arm and a billiard table thereof, comprising: a robot arm main body device and an intelligent control system, wherein the intelligent control system comprises: an induction monitoring module, an identification and analysis module, a foreign body determination module, an elimination control module and an elimination operation module; the induction monitoring module is used to monitor and sense the table to obtain table monitoring information; the identification and analysis module is used to identify and analyze the table monitoring information, determine the objects appearing on the table, and obtain a table identification result; the foreign body determination module is used to analyze and judge whether there are foreign bodies on the table according to the table identification result, and obtain a foreign body judgment result; the elimination control module is used to determine an elimination route according to the foreign body judgment result and the table identification result when there are foreign bodies on the table, and determine an operation control instruction for the elimination route; the elimination operation module is used to start the robot arm main body device based on the operation control instruction, lock the foreign bodies according to the operation control instruction, and remove the foreign bodies using the robot arm main body device.

[0037] In the above technical solution, the intelligent control system is associated with the robot arm main body device, and the intelligent control system is used to realize intelligent control of the robot arm main body device, thereby realizing the startup of the robot arm main body device, so that the robot arm main body device can remove foreign objects on the table.

[0038] In the above technical scheme, when the table foreign object recognition and elimination robot arm is removing foreign objects from the table, it monitors and senses the table through the sensing monitoring module to obtain table monitoring information, and transmits the table monitoring information to the recognition and analysis module in real time, and then identifies and analyzes the table monitoring information in the recognition and analysis module to determine the objects appearing on the table to obtain the table recognition result. Then, the foreign object determination module analyzes and determines whether there are foreign objects on the table based on the table recognition result to obtain the foreign object judgment result. At the same time, the recognition and analysis module sends the table recognition result to the elimination control module, and then the elimination control module determines the elimination route according to the foreign object judgment result when there are foreign objects on the table in combination with the table recognition result, and determines the operation control instruction for the elimination route. Finally, the elimination operation module starts the robot arm main device based on the operation control instruction, locks the foreign objects according to the operation control instruction, and removes the foreign objects using the robot arm main device.

[0039] In the above technical solution, one end of the sensing monitoring module is connected to the identification and analysis module, the other end of the identification and analysis module is connected to one end of the foreign object determination module, the other end of the foreign object determination module is connected to the exclusion control module, the exclusion control module is also connected to the identification and analysis module, and the output end of the exclusion control module is connected to the exclusion operation module.

[0040] The above technical solution realizes intelligent control of the robotic arm by combining an intelligent control system with a main device of the robotic arm, so that when foreign objects appear on the table, they can be identified in time and removed by the robotic arm, without the need for manual identification and removal of foreign objects, saving manpower costs, and avoiding accidental touches on the game state of the table during manual removal of foreign objects, thereby improving the player experience, and realizing real-time monitoring of the table through the induction monitoring module, so that the situation on the table can be obtained in real time, so that foreign objects can be analyzed and removed in time for the table, and the recognition and analysis module can be used based on the table monitoring information. Identification realizes the conversion of table monitoring information, determines the objects appearing on the table, provides data support for the foreign object determination module, and facilitates the foreign object determination module to judge whether there are foreign objects on the table, so that the foreign object judgment result can be determined in a shorter time, and the efficiency of the foreign object determination module's analysis and judgment can be improved. In addition, the exclusion control module determines the operation control instructions of the robot arm main device for foreign objects, so that the robot arm main device can automatically execute the operation control instructions, so that the robot arm main device can accurately lock the foreign objects on the table and remove the foreign objects on the table, reducing the impact of foreign objects on players and ensuring the effectiveness of removing foreign objects on the table.

[0041] In an embodiment provided by the present invention, the induction monitoring module is arranged on a table, and the induction monitoring module includes a plurality of induction collection units. When the induction monitoring module is laid out on the table, a performance analysis of the induction monitoring device is performed on the induction collection unit to determine the size of the monitoring area of ​​the induction collection unit. Then, the monitoring area is analyzed and divided according to the size of the monitoring area of ​​the induction collection unit in combination with the table to determine the layout of the induction collection unit, and the induction monitoring device is deployed to the corresponding position according to the layout of the induction collection unit.

[0042] In the above technical solution, an induction monitoring device is provided in an induction collection unit.

[0043] The above technical solution sets the sensing monitoring module on the table so that the sensing monitoring device can perform full-area monitoring of the table, thereby replacing manual inspection of the table and saving manpower. It can also realize real-time sensing monitoring, so that the table monitoring information of the table can be obtained in real time, and foreign objects on the table can be discovered in time, reducing the impact of foreign objects on the game status of the table and improving the player experience.

[0044] like Figure 2 As shown, in one embodiment provided by the present invention, when the recognition and analysis module recognizes and analyzes the countertop monitoring information, the countertop data recognition and analysis module is used to obtain the countertop recognition result. The countertop data recognition and analysis module includes: a preliminary analysis model and an item recognition model. The countertop monitoring information is recognized and analyzed by the countertop data recognition and analysis module, including:

[0045] A1. Use the preliminary analysis model to conduct comparative analysis on the countertop monitoring information to obtain the current difference information of the countertop;

[0046] A2. Analyze whether the current difference information of the table is blank information, and obtain the analysis and judgment result;

[0047] A3. When the current difference information on the countertop is not blank information according to the analysis and judgment results, the object recognition model is used to identify the countertop monitoring information, determine the objects appearing on the countertop, and obtain the countertop recognition result.

[0048] In the above technical scheme, the preliminary analysis model includes: a first comparison unit and a second comparison unit. Before using the comparison model to perform comparative analysis on the table monitoring information, a preliminary analysis is also performed on the table monitoring information to determine whether the table monitoring information is the first table monitoring information. When the preliminary analysis determines that the table monitoring information is the first table monitoring information, the first comparison unit is used to compare the table monitoring information with the initial table information to obtain current difference information of the table. When the preliminary analysis determines that the table monitoring information is not the first table monitoring information, the second comparison unit is used to compare the table monitoring information with the table monitoring information at the previous moment to obtain current difference information of the table.

[0049] In the above technical solution, when the analysis and judgment result is that the current difference information of the countertop is blank information, it means that there is no change between the countertop monitoring information and the countertop initial information or the countertop monitoring information at the previous moment. At this time, there is no need to determine the countertop identification result and the subsequent foreign matter determination module, exclusion control module and exclusion operation module.

[0050] In the above technical solution, the object recognition model recognizes all objects appearing on the table.

[0051] The above technical solution realizes preliminary analysis and judgment of the countertop monitoring information by using a preliminary analysis model to conduct comparative analysis on the countertop monitoring information and analyze whether the current difference information of the countertop is blank information, so that identification is only performed when the current difference information of the countertop is not blank information, avoiding invalid analysis and processing by the intelligent control system when the current difference information of the countertop is blank information, thereby improving the effectiveness of the intelligent control system and reducing the loss of the intelligent control system. In addition, the preliminary analysis model and the object recognition model are used to determine the countertop recognition results, which is not only efficient but also not prone to errors, thereby ensuring the accuracy of the countertop recognition results.

[0052] In one embodiment provided by the present invention, the foreign matter determination module determines whether there is a foreign matter on the table according to the table recognition result analysis, including:

[0053] Analyze the items that appear in the countertop identification results and determine the current countertop item information;

[0054] Filter the current table item information according to the table game to obtain the confirmed analysis and filtering results;

[0055] Determine whether there are any items other than game items on the table according to the confirmation analysis and filtering results, and determine whether there are any foreign objects on the table, to obtain a first determination result;

[0056] According to the first determination result, the current table item information is retrieved, and the abnormal phenomenon of table game items is analyzed for the current table item information in combination with the historical table monitoring information, and it is determined whether there is an abnormal phenomenon of table game items on the table, thereby determining whether there is a foreign object on the table, and obtaining a second determination result;

[0057] When the first determination result or the second determination result is that there is a foreign object on the table, position information is determined for the foreign object to obtain the foreign object position information.

[0058] In the above technical scheme, when determining whether there are items other than table game items on the table and whether there are foreign objects on the table based on the confirmed analysis and filtering results, if the analysis and filtering result is a non-empty set, then there are items other than table game items on the table, that is, there are foreign objects on the table. At this time, the first determination result is that there are foreign objects on the table. When the analysis and filtering result is an empty set, then there are no items other than table game items on the table, which means that there are only table game items on the table. At this time, the first determination result is that there are no foreign objects on the table.

[0059] In the above technical solution, the second determination result is further determined based on the first determination result when the first determination result is that there is no foreign matter on the table top.

[0060] In the above technical solution, the abnormal phenomenon of table game items is that table game items that have been eliminated according to historical table monitoring information reappear on the table.

[0061] In the above technical solution, when there are no abnormal appearances of table game items on the table, that is, there are no foreign objects on the table, the second determination result at this time is that there are no foreign objects on the table. When there are abnormal appearances of table game items on the table, that is, there are foreign objects on the table, the second determination result at this time is that there are foreign objects on the table.

[0062] The above technical solution can not only identify the game items that do not belong to the tabletop in the tabletop identification results through the foreign object determination module, but also identify the tabletop game items that should not appear on the tabletop as foreign objects, thereby improving the accuracy of foreign object identification and determination, ensuring the accuracy of the foreign object determination module, and thus making it possible to better remove foreign objects from the tabletop.

[0063] In one embodiment of the present invention, the position determination unit determines the position information of the foreign object, including:

[0064] When there is a foreign object on the table, the information of the foreign object is traced, the target sensing monitoring device is determined, and the target sensing collection unit is locked;

[0065] In the monitoring area of ​​the target sensing acquisition unit, the relative position relationship between the foreign object and the target sensing monitoring device is analyzed to determine the first relative position information;

[0066] The position information of the target sensing monitoring device based on the reference coordinate system is obtained, and the position information of the foreign object is determined in combination with the first relative position information.

[0067] In the above technical solution, the reference coordinate system is established based on the table.

[0068] The above technical solution uses the transmission information of relative position relationship to determine the position information of foreign objects, so as to clarify the specific position of foreign objects based on the reference coordinate system, facilitate locking of foreign objects, provide convenience for the removal of foreign objects, and improve the accuracy of the table foreign object identification and removal robot.

[0069] In one embodiment provided by the present invention, the exclusion control module determines an exclusion route according to the foreign matter judgment result when there is a foreign matter on the table top in combination with the table top recognition result, and determines an operation control instruction for the exclusion route, including:

[0070] The first control configuration unit is used to configure the start control instruction of the robot arm main device according to the foreign body judgment result and to determine the recovery control instruction of the robot arm main device after the robot arm main device completes the removal of the foreign body;

[0071] A second control configuration unit is used to obtain foreign object position information according to the foreign object judgment result, and at the same time, the table recognition result is retrieved to obtain the foreign object position information and the table recognition result, and then the operation path of the robot arm main body during the foreign object removal process is analyzed according to the table recognition result combined with the foreign object position information, the fixed point of the robot arm main body device in the operation path is determined, the robot arm fixed point information is obtained, and the extension and retraction control instructions, grasping control instructions and removal control instructions of the robot arm main body device are determined according to the robot arm fixed point information.

[0072] like Figure 3 As shown, in the above technical solution, excluding the control module, it includes: a first control configuration unit and a second control configuration unit.

[0073] In the above technical solution, the start control instruction and the recovery control instruction are pre-stored and can be directly retrieved when the foreign matter determination result is that there is a foreign matter on the table.

[0074] In the above technical solution, the robot arm main body device is stored under the table when not started. When the robot arm main body device is started, the robot arm main body device is moved out from under the table and recovered under the table after the foreign matter is removed.

[0075] In the above technical solution, the fixed point of the robot arm main body device in the operation path refers to the point where the robot arm main body device turns in the process of moving from under the table to grabbing foreign objects in space, for example: the point where the robot arm main body device moves out from under the table, the positioning point above the foreign object, the robot arm height extension point, etc.

[0076] In the above technical solution, the second control configuration unit also obtains basic information on the foreign object when determining the grasping control instruction, and determines the grasping control instruction by combining the basic information of the foreign object with the table recognition result and the foreign object position information, including: obtaining the basic information of the foreign object; grasping and determining the robot arm main device according to the basic information of the foreign object, extracting the foreign object size information from the basic information of the foreign object, determining the initial grasping force of the robot arm main device according to the foreign object size information, and then extracting the foreign object properties from the basic information of the foreign object, analyzing the foreign object grasping characteristics according to the foreign object properties, and obtaining the first correction information, and then correcting the initial grasping force using the first correction information to obtain the grasping force of the robot arm main device for the foreign object; obtaining and retrieving the shape of the foreign object from the basic information of the foreign object, preliminarily determining the foreign object grasping method, and verifying the preliminarily determined foreign object grasping method using the foreign object properties. When the verification result is passed, the preliminarily determined foreign object grasping method is the final determined foreign object grasping method, otherwise the preliminarily determined foreign object grasping method is adjusted until the verification result is passed. Among them, the basic information of foreign matter includes: foreign matter properties, foreign matter size, foreign matter shape, etc. Foreign matter grabbing methods include: adsorption grabbing, clamping grabbing, etc.

[0077] In the above technical scheme, after determining the grasping force and grasping method of the robot arm main body device, the foreign object grasping control instructions are determined according to the grasping force and grasping method, and the application area of ​​the robot arm main body device when grasping the foreign object is analyzed. Then, the distribution of table game items around the foreign object is analyzed according to the table recognition result and the foreign object position information, and the application area is analyzed in combination with the distribution situation to determine whether the robot arm main body device can grasp smoothly. When the robot arm main body device cannot grasp smoothly, the foreign object grasping adjustment plan is analyzed in combination with the distribution situation, and the pre-grasping adjustment control instructions are generated according to the pre-foreign object grasping adjustment plan.

[0078] In the above technical solution, the grasping control instructions include: foreign object grasping mode adjustment instructions, foreign object grasping force regulation instructions and pre-grasping adjustment control instructions.

[0079] In the above technical solution, when the main body device of the robot arm can grasp smoothly, there is no need to adjust the control instructions before grasping.

[0080] The above technical scheme realizes the start-up and recovery control of the robot arm main body device through the first control configuration unit, so that the robot arm main body device starts when the foreign object is removed and recovers when the foreign object removal is not needed, thereby avoiding the robot arm main body device from causing obstacles to the use of table games and reducing the impact of the robot arm main body device on players playing table games. In addition, the second control configuration unit is used to control the robot arm main body device for the foreign object removal process, and the foreign object removal process is controlled in fixed-point segments. This can not only make the determination of the telescopic control instructions, the grasping control instructions and the removal control instructions orderly, and efficiently realize the determination of the telescopic control instructions, the grasping control instructions and the removal control instructions, but also avoid control confusion in the foreign object removal process, which affects the normal use of the robot arm main body device. In addition, by obtaining the basic information of the foreign object, the main body device of the robot arm can determine the adaptive control instructions according to the basic information of the foreign object when grasping the foreign object, so that the main body device of the robot arm can better grasp the foreign object, avoid the situation that the main body device of the robot arm cannot successfully grasp the foreign object, and ensure the effective removal of foreign objects by the robot arm after identifying and eliminating foreign objects on the table. Moreover, by determining the control instructions for adjusting before grasping, when the foreign object cannot be grasped smoothly on the table, the main body device of the robot arm can be adjusted to avoid the movement of the table game items on the table when grasping the foreign object, thereby reducing the influence of the main body device of the robot arm on the current state of the table game items on the table for the removal of foreign objects, and ensuring the fairness of the table game.

[0081] In one embodiment provided by the present invention, after obtaining the operation control instruction, the exclusion control module transmits the operation control instruction to the exclusion operation module through the instruction transmission unit, and when responding to the operation control instruction, the instruction sequence is determined for the robot arm main body device for the foreign body removal process to obtain a control instruction sequence; the start control instruction, the recovery control instruction, the telescopic control instruction, the grasping control instruction and the removal control instruction are sequenced according to the control instruction sequence to form an ideal sequence of control instructions; the instruction running time of the start control instruction, the recovery control instruction, the telescopic control instruction, the grasping control instruction and the removal control instruction are estimated respectively to determine the control instruction transmission interval; the start control instruction, the recovery control instruction, the telescopic control instruction, the grasping control instruction and the removal control instruction are sent in order according to the ideal sequence of control instructions and the control instruction transmission interval.

[0082] like Figure 4 As shown, in the above technical solution, the instruction delivery unit is connected to the first control configuration unit and the second control configuration unit respectively, and is also connected to the exclusion operation module.

[0083] In the above technical solution, the transmission interval of the control instructions fluctuates, and the transmission time interval between each control instruction can be the same or different.

[0084] In the above technical scheme, the command running time is estimated for the start control command, the recovery control command, the telescopic control command, the grab control command and the removal control command. When determining the control command transmission interval, the transmission time is estimated for the start control command, the recovery control command, the telescopic control command, the grab control command and the removal control command respectively to obtain the first estimated time of the start control command, the recovery control command, the telescopic control command, the grab control command and the removal control command. Then, the command running time is estimated for the start control command, the recovery control command, the telescopic control command, the grab control command and the removal control command respectively to obtain the start control command, the recovery control command, the telescopic control command, the grab control command and the removal control command. Take the second estimated time of the control instruction and remove the control instruction, then analyze the start control instruction, recovery control instruction, extension control instruction, grab control instruction and removal control instruction in turn according to the ideal sequence of control instructions. When the control instruction is the start control instruction, send the start control instruction directly; when the control instruction is the extension control instruction, grab control instruction, removal control instruction or recovery control instruction, combine the first estimated time of the current control instruction with the second estimated time of the previous control instruction in the ideal sequence of control instructions according to the ideal sequence of control instructions within the preset error time allowable range to obtain the control instruction transmission interval between the current control instruction and the previous control instruction in the ideal sequence of control instructions.

[0085] The above technical scheme uses the instruction transmission unit to enable the first control configuration unit and the second control configuration unit to send the start control instruction, the recovery control instruction, the extension control instruction, the grasping control instruction and the removal control instruction to the elimination operation module in order, so that the elimination operation module can remove foreign objects in an orderly manner, avoiding confusion in the operation of the robot arm main device in the elimination operation module, and by estimating the instruction running time for the start control instruction, the recovery control instruction, the extension control instruction, the grasping control instruction and the removal control instruction, based on the control instruction transmission interval, it is possible to not only avoid the accumulation of control instructions in the elimination operation module that affects the control instruction running performance of the robot arm main device, but also avoid the control instruction interval of the elimination operation module being too long, resulting in discontinuous foreign object removal operation of the robot arm main device.

[0086] In one embodiment provided by the present invention, the elimination operation module starts the robot arm main body device based on the operation control instruction, locks the foreign object according to the operation control instruction and removes the foreign object using the robot arm main body device, and also monitors the execution status of the operation control instruction, obtains the operation control instruction execution information, and performs fault analysis based on the operation control instruction execution information, and then issues a fault alarm reminder when an execution operation failure occurs in the operation control instruction.

[0087] The above technical solution realizes intelligent automatic operation of the robot main body device to remove foreign objects based on the operation control instruction by eliminating the operation module, and the operation control instruction can be automatically run by the robot main body device operation unit, so that the robot main body device can operate based on the operation control instruction. Moreover, through the fault reminder, a fault alarm reminder can be issued when the robot main body device has an abnormal operation in response to the operation control instruction, so that relevant personnel can promptly discover the abnormal operation of the robot main body device in response to the operation control instruction.

[0088] The present invention provides a billiard table, comprising: a tabletop stone slab, a plurality of table legs and a tabletop foreign body identification and elimination mechanical arm as described in any of the above embodiments, the tabletop stone slab and the plurality of table legs are connected to form a billiard table base frame, and the tabletop foreign body identification and elimination mechanical arm is arranged under the tabletop stone slab through a telescopic device.

[0089] The above technical solution realizes the combination of the table foreign object recognition and removal robot arm and the billiard table, so that the table foreign object recognition and removal robot arm can be used to detect and remove foreign objects on the table stone slab of the billiard table. There is no need for manual identification and removal of foreign objects, which saves manpower expenses and can also avoid accidental touching of the billiard balls during the manual removal of foreign objects, thereby improving the player experience.

[0090] Those skilled in the art should understand that the first and second in the present invention merely refer to different application stages.

[0091] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0092] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A robot arm for identifying and removing foreign objects on a table, comprising: A robot arm main body device and an intelligent control system, characterized in that the intelligent control system comprises: an induction monitoring module, an identification and analysis module, a foreign matter determination module, an exclusion control module and an exclusion operation module; the induction monitoring module is used to monitor and sense the countertop to obtain countertop monitoring information; the identification and analysis module is used to identify and analyze the countertop monitoring information, determine the objects appearing on the countertop, and obtain a countertop identification result; the foreign matter determination module is used to analyze and judge whether there are foreign matters on the countertop according to the countertop identification result, and obtain a foreign matter judgment result; the exclusion control module is used to determine an exclusion route in combination with the countertop identification result when there are foreign matters on the countertop according to the foreign matter judgment result, and determine an operation control instruction for the exclusion route; the exclusion operation module is used to start the robot arm main body device based on the operation control instruction, lock the foreign matter according to the operation control instruction, and remove the foreign matter using the robot arm main body device; The foreign object determination module determines whether there is a foreign object on the table according to the table recognition result, including: Analyze the items that appear in the countertop identification results and determine the current countertop item information; Filter the current table item information according to the table game to obtain the confirmed analysis and filtering results; Determine whether there are any items other than game items on the table according to the confirmation analysis and filtering results, and determine whether there are any foreign objects on the table, to obtain a first determination result; According to the first determination result, the current table item information is retrieved, and the abnormal phenomenon of table game items is analyzed for the current table item information in combination with the historical table monitoring information, and it is determined whether there is an abnormal phenomenon of table game items on the table, thereby determining whether there is a foreign object on the table, and obtaining a second determination result; When the first determination result or the second determination result is that there is a foreign object on the table, position information is determined for the foreign object to obtain the foreign object position information.

2. The table foreign body recognition and removal robot arm according to claim 1, characterized in that: The induction monitoring module is arranged on the table, and the induction monitoring module includes a plurality of induction collection units. When the induction monitoring module is laid out on the table, a performance analysis of the induction monitoring device is performed on the induction collection unit to determine the size of the monitoring area of ​​the induction collection unit. Then, the monitoring area is analyzed and divided according to the size of the monitoring area of ​​the induction collection unit in combination with the table to determine the layout of the induction collection unit, and the induction monitoring device is deployed to the corresponding position according to the layout of the induction collection unit.

3. The table foreign body recognition and removal robot arm according to claim 1, characterized in that: When the recognition and analysis module recognizes and analyzes the countertop monitoring information, the countertop data recognition and analysis module is used to obtain the countertop recognition result. The countertop data recognition and analysis module includes: a preliminary analysis model and an item recognition model. The countertop monitoring information is recognized and analyzed by the countertop data recognition and analysis module, including: Use the preliminary analysis model to conduct comparative analysis on the countertop monitoring information to obtain the current difference information of the countertop; Analyze whether the current difference information of the table is blank information, and obtain the analysis and judgment result; According to the analysis and judgment results, the object recognition model is used to identify the countertop monitoring information, determine the objects appearing on the countertop, and obtain the countertop recognition result.

4. The table foreign body recognition and removal robot arm according to claim 2, characterized in that: Determine the location information of foreign objects, including: When there is a foreign object on the table, the information of the foreign object is traced, the target sensing monitoring device is determined, and the target sensing collection unit is locked; In the monitoring area of ​​the target sensing acquisition unit, the relative position relationship between the foreign object and the target sensing monitoring device is analyzed to determine the first relative position information; The position information of the target sensing monitoring device based on the reference coordinate system is obtained, and the position information of the foreign object is determined in combination with the first relative position information.

5. The table foreign body recognition and removal robot arm according to claim 4, characterized in that: The exclusion control module determines an exclusion route when there is a foreign object on the table according to the foreign object judgment result and the table identification result, and determines an operation control instruction for the exclusion route, including: The first control configuration unit is used to configure the start control instruction of the robot arm main device according to the foreign body judgment result and to determine the recovery control instruction of the robot arm main device after the robot arm main device completes the removal of the foreign body; A second control configuration unit is used to obtain foreign object position information according to the foreign object judgment result, and at the same time, the table recognition result is retrieved to obtain the foreign object position information and the table recognition result, and then the operation path of the robot arm main body during the foreign object removal process is analyzed according to the table recognition result combined with the foreign object position information, the fixed point of the robot arm main body device in the operation path is determined, the robot arm fixed point information is obtained, and the extension and retraction control instructions, grasping control instructions and removal control instructions of the robot arm main body device are determined according to the robot arm fixed point information.

6. The table foreign body recognition and removal robot arm according to claim 5, characterized in that: After obtaining the operation control instruction, the exclusion control module transmits the operation control instruction to the exclusion operation module through the instruction transmission unit, and when responding to the operation control instruction, the instruction sequence is determined for the robot arm main body device for the foreign body removal process to obtain a control instruction sequence; the start control instruction, the recovery control instruction, the extension and retraction control instruction, the grasping control instruction and the removal control instruction are sequenced and standardized according to the control instruction sequence to form an ideal sequence of control instructions; the instruction running time of the start control instruction, the recovery control instruction, the extension and retraction control instruction, the grasping control instruction and the removal control instruction are respectively estimated to determine the control instruction transmission interval; the start control instruction, the recovery control instruction, the extension and retraction control instruction, the grasping control instruction and the removal control instruction are sent in order according to the ideal sequence of control instructions and the control instruction transmission interval.

7. The table foreign body recognition and removal robot arm according to claim 1, characterized in that: The elimination operation module starts the robot arm main device based on the operation control instruction, locks the foreign object according to the operation control instruction and removes the foreign object using the robot arm main device, and also monitors the execution of the operation control instruction, obtains the operation control instruction execution information, and performs fault analysis based on the operation control instruction execution information, and then issues a fault alarm reminder when the operation control instruction has an execution operation failure.

8. A billiard table, characterized in that: include: A table top stone slab, a plurality of table legs and a table top foreign body identification and removal mechanical arm as described in any one of claims 1-7, the table top stone slab and the plurality of table legs are connected to form a billiard table base frame, and the table top foreign body identification and removal mechanical arm is arranged under the table top stone slab through a telescopic device.

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