Single-ball automatic positioning and back-swinging mechanical arm and billiard table thereof

Abstract

The invention provides a single-ball automatic positioning and back-swinging mechanical arm and a billiard table thereof. The single-ball automatic positioning and back-swinging mechanical arm comprises a monitoring and collecting module, a single-ball recognition module, a moving module, a grabbing module, an information storage module and an installation and storage module. Wherein the monitoring and collecting module is connected with the single-ball recognition module, the single-ball recognition module is in output connection with the moving module, the grabbing module and the information storage module, and the installation and storage module is connected to the single-ball recognition module and is also connected with the grabbing module. The single-ball automatic positioning and back-swinging mechanical arm is combined with the billiard table, abnormal balls are recognized and grabbed and put back, efficiency is high, manual ball picking is not needed, and convenience is provided for people playing billiard games.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, and in particular to a single-ball automatic positioning and swinging mechanical arm and a billiard table thereof. Background Art

[0002] Billiards is an indoor sport widely popular in the world. It is an entertainment project that uses a cue to hit the ball on the table and relies on calculating the score to determine the winner of the game. It can also be called billiards or pool. Billiards requires a billiard table. The existing billiard table is a simple mechanical structure. When people play billiard games on the billiard table, they often need to manually pick up the billiard balls that should not fall. It is not only inconvenient, but also time-consuming. Therefore, the present invention takes billiards as an example but is not limited to this billiard game. A single-ball automatic positioning and swinging mechanical arm is proposed. The single-ball automatic positioning and swinging mechanical arm is combined with the billiard table to identify abnormal balls and grab and put back the abnormal balls. It is not only efficient, but also does not require manual ball picking, which provides convenience for people playing billiard games. Summary of the invention

[0003] The object of the present invention is to provide a single-ball automatic positioning and swinging mechanical arm and a billiard table thereof, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a single-ball automatic positioning and swinging mechanical arm and a billiard table thereof, comprising:

[0005] Monitoring and acquisition module, single ball recognition module, movement module, grabbing module, information storage module and installation and storage module;

[0006] The monitoring and collection module is used to monitor the game balls in the billiard game and obtain the game monitoring and collection information;

[0007] The single ball recognition module is used to track a single ball according to the game monitoring and collection information, obtain the single ball tracking information, and determine whether an abnormal ball appears according to the single ball tracking information to obtain a single ball recognition judgment result;

[0008] The moving module is used to obtain the final position of the abnormal ball according to the single ball identification and judgment result, determine the first target position, and move the swing back mechanical arm to the first target position;

[0009] The grabbing module is used to retrieve the single ball tracking information stored in the information storage module, analyze the ideal position of the abnormal ball, obtain the second target position, grab the abnormal ball using the swinging mechanical arm, and then place the abnormal ball at the second target position;

[0010] The information storage module is used to store single ball tracking information;

[0011] The installation storage module is used to store and place the balls for the swing-back robot arm according to the single ball recognition and judgment result and the operation status of the grasping module.

[0012] Furthermore, the monitoring and collection module includes: a plurality of monitoring and collection units and a monitoring information integration unit;

[0013] The monitoring and collecting unit is used to perform multi-directional monitoring on the billiard game to obtain a plurality of monitoring and collecting fragment information;

[0014] The monitoring information integration unit is used to integrate the monitoring and collection fragment information to obtain game monitoring and collection information.

[0015] Furthermore, the single ball recognition module includes: a game confirmation unit, a single ball tracking unit and an analysis and judgment unit;

[0016] The game confirmation unit is used to confirm the game balls of the billiard game and import the game rules;

[0017] The single ball tracking unit is used to identify and obtain the identification features of the game ball, obtain the feature information of the game ball, and perform single ball tracking in the game monitoring and collection information based on the feature information of the game ball to obtain the tracking information of the game ball;

[0018] The analysis and judgment unit is used to analyze the motion trajectory of the game ball according to the game ball tracking information, and judge whether the game ball is an abnormal ball in combination with the game rules to obtain a single ball recognition judgment result.

[0019] Furthermore, when storing single-ball tracking information, the information storage module obtains the number of game balls, and divides the information storage unit into multiple storage units according to the number of game balls, and then obtains the identification features of the game balls, matches the identification features of the game balls with the storage units, and determines the matching correspondence relationship, so that when the single-ball tracking information is obtained, the single-ball tracking information is stored based on the matching correspondence relationship.

[0020] Furthermore, the installation and storage module includes: an identification control unit and a storage and release operation unit;

[0021] The identification control unit is used to obtain the single ball identification result obtained by the single ball identification module, and perform control analysis according to the single ball identification result. When the single ball identification result is that the abnormal ball does not conform to the game rules, a backswing mechanical arm start signal is generated, and the operation monitoring is performed on the grasping module to obtain the operation process of the grasping module, and after the grasping module operation is completed, a backswing mechanical arm retraction signal is generated;

[0022] The retracting and releasing operation unit is used to start the swing arm from the storage and placement position or return it to the storage and placement position according to the swing arm start signal or the swing arm retraction signal.

[0023] Further, the mobile module includes: a first analysis unit, a second analysis unit, a third analysis unit and a mobile control unit;

[0024] The first analysis unit is used to determine the target analysis ball according to the single ball recognition and judgment result, and obtain the single ball tracking information of the target analysis ball according to the target analysis ball to obtain the target single ball tracking information, and then analyze the final static position of the target analysis ball after falling in the target single ball tracking information to determine the position of the target analysis ball;

[0025] The second analysis unit is used to identify the target analysis ball, determine the type of the target analysis ball in the billiard game, and then analyze the target analysis ball position information in combination with the game rules according to the game ball type to determine whether the target analysis ball is reasonably in the target analysis ball position, thereby obtaining a first analysis and determination result;

[0026] The third analysis unit is used to analyze the swing back mechanical arm according to the first analysis and judgment result, and when the target analysis ball is unreasonable in the target analysis ball position, analyze the operation posture of the swing back mechanical arm, determine the operation distance of the swing back mechanical arm, and determine the target operation position of the swing back mechanical arm by combining the target analysis ball position information with the operation distance of the swing back mechanical arm to obtain the first target position, and then obtain the current position of the swing back mechanical arm, and perform movement trajectory analysis according to the current position of the swing back mechanical arm and the first target position combined with the movement track to determine the movement trajectory of the swing back mechanical arm;

[0027] The movement control unit is used to generate a movement control instruction of the swing robot arm according to the movement trajectory of the swing robot arm, and drive the swing robot arm to move to the first target position based on the movement control instruction of the swing robot arm.

[0028] Furthermore, the grasping module includes: an identification and analysis unit and a grasping and recovery unit, the identification and analysis unit is used to perform an ideal position analysis on the target analysis ball, determine the ideal position of the abnormal ball, and obtain a second target position, the grasping and recovery unit is used to generate a grasping control instruction for the swinging robot arm, and grasp the abnormal ball through the swinging robot arm according to the grasping control instruction, and then place the abnormal ball at the second target position.

[0029] Furthermore, when determining the second target position, the identification and analysis unit includes: acquiring the target analysis ball position and the game ball type of the target analysis ball in the billiard game in the moving module based on the target analysis ball, and simultaneously retrieving the single ball tracking information stored in the information storage module to obtain the single ball tracking information of the target analysis ball; further analyzing the single ball tracking information of the target analysis ball according to the target analysis ball position and the game ball type, and when the target analysis ball position is a game ball collection box of the billiard game, judging whether the target analysis ball is the cue ball according to the game ball type, and when the target analysis ball position is a game ball collection box of the billiard game, judging whether the target analysis ball is the cue ball according to the game ball type, and when the target analysis ball is When the target analysis ball is the cue ball, the second target position is the preset point position. When the target analysis ball is not the cue ball, the position of the target analysis ball before the drop and impact is determined based on the single ball tracking information of the target analysis ball, and the position of the target analysis ball before the drop and impact is used as the second target position. When the target analysis ball is not in the ball collection box of the billiards game, it is determined whether the target analysis ball is the cue ball based on the type of game balls. When the target analysis ball is the cue ball, the second target position is the preset point position. When the target analysis ball is not the cue ball, the position of the ball collection box is the second target position.

[0030] Furthermore, the grasping and recovery unit generates a grasping control instruction for the return-swing robotic arm, and grasps the abnormal ball through the return-swing robotic arm according to the grasping control instruction, and then when the abnormal ball is placed at the second target position, the target analysis ball position is obtained, and a relative position analysis is performed based on the target analysis ball position; when the target analysis ball position is in a game ball collection box for a billiard game, the relative position of the target analysis ball in the game ball collection box for a billiard game is analyzed to obtain first relative position information, and then the first relative position information is combined with the first target position to determine the telescopic control instruction of the return-swing robotic arm; when the target analysis ball position is not in the game ball collection box for a billiard game, a relative position analysis is performed between the target analysis ball position and the first target position to obtain second relative position information, and then the telescopic control instruction of the return-swing robotic arm is determined based on the second relative position combined with the first target position; and then, after the grasping unit configures the grasping control instruction for the return-swing robotic arm, the telescopic control instruction is combined with the grasping control instruction to grasp the abnormal ball for the return-swing robotic arm.

[0031] A billiard table comprises: a billiard table body and a single-ball automatic positioning and swinging mechanical arm as described above, wherein movable slide rails are installed around the billiard table body, the single-ball automatic positioning and swinging mechanical arm is connected to the movable slide rails, and a storage and placement device is provided below the billiard table body for storing and placing the single-ball automatic positioning and swinging mechanical arm.

[0032] The present invention can not only pick up the abnormal ball but also restore the abnormal ball to an ideal position through the single-ball automatic positioning and swinging back mechanical arm, so that people can continue to play the billiard game without manually picking up the ball, thus saving manpower consumption, providing convenience for people playing the billiard game, and improving people's experience of the billiard game. Moreover, when the single-ball automatic positioning and swinging back mechanical arm is used to pick up the ball, the final position of the abnormal ball can be accurately identified with high accuracy and short time consumption, so that the automatic positioning and swinging back mechanical arm can more efficiently pick up the abnormal ball and restore it to an ideal position. By using a monitoring module to realize real-time monitoring of the billiard game, it is possible to promptly determine whether there is an abnormal ball in the single ball recognition result, and then to promptly pick up and reset the abnormal ball when it appears. In addition, the moving module and the grabbing module enable the swinging robot arm to adapt and adjust according to the target billiard ball, thereby improving the flexibility of the swinging robot arm and enabling the swinging robot arm to better pick up abnormal balls. In addition, by installing a storage module, the swinging robot arm can be stored, so that the swinging robot arm is hidden when not in operation, thereby avoiding the inconvenience caused by the swinging robot arm to people playing billiard games, reducing the impact of the swinging robot arm on people playing billiard games, and thus improving the gaming experience.

[0033] 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.

[0034] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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:

[0036] Figure 1 It is a schematic diagram of a module of the single-ball automatic positioning and swinging back mechanical arm of the present invention;

[0037] Figure 2 It is a schematic diagram of the monitoring and acquisition module in the single-ball automatic positioning and swinging back mechanical arm of the present invention;

[0038] Figure 3 It is a schematic diagram of a single ball recognition module in the single ball automatic positioning and swinging back mechanical arm of the present invention;

[0039] Figure 4 It is a schematic diagram of installing a storage module in the single-ball automatic positioning and swinging back robot arm of the present invention;

[0040] Figure 5It is a schematic diagram of a moving module in the single-ball automatic positioning and swinging back mechanical arm of the present invention;

[0041] Figure 6 It is a schematic diagram of the grabbing module in the single-ball automatic positioning and swinging back robot arm described in the present invention. DETAILED DESCRIPTION

[0042] 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.

[0043] like Figure 1 As shown, an embodiment of the present invention provides a single-ball automatic positioning and swinging back mechanical arm, including: a monitoring and acquisition module, a single-ball identification module, a moving module, a grasping module, an information storage module and an installation and storage module;

[0044] The monitoring and collection module is used to monitor the game balls in the billiard game and obtain the game monitoring and collection information;

[0045] The single ball recognition module is used to track a single ball according to the game monitoring and collection information, obtain the single ball tracking information, and determine whether an abnormal ball appears according to the single ball tracking information to obtain a single ball recognition judgment result;

[0046] The moving module is used to obtain the final position of the abnormal ball according to the single ball identification and judgment result, determine the first target position, and move the swing back mechanical arm to the first target position;

[0047] The grabbing module is used to retrieve the single ball tracking information stored in the information storage module, analyze the ideal position of the abnormal ball, obtain the second target position, grab the abnormal ball using the swinging mechanical arm, and then place the abnormal ball at the second target position;

[0048] The information storage module is used to store single ball tracking information;

[0049] The installation storage module is used to store and place the balls for the swing-back robot arm according to the single ball recognition and judgment result and the operation status of the grasping module.

[0050] In the above technical solution, the monitoring and acquisition module is connected to the single ball recognition module, the single ball recognition module is output and connected to the moving module, the grasping module and the information storage module respectively, the installation and storage module is connected to the single ball recognition module and is also connected to the grasping module.

[0051] In the above technical solution, the table tennis game may be a billiard game or other table tennis games. When the table tennis game is a billiard game, monitoring the game balls of the table tennis game is monitoring the billiard balls on the billiard table.

[0052] In the above technical solution, the abnormal ball refers to a game ball that is out of the billiard game table.

[0053] In the above technical solution, the ideal position of the abnormal ball is the position corresponding to the static state before the abnormal ball falls.

[0054] The above technical solution can not only pick up the abnormal ball through the single-ball automatic positioning and swinging back robotic arm, but also restore the abnormal ball to the ideal position, so that people can continue to play the billiard game without manual picking up of the ball, saving manpower consumption, providing convenience for people playing the billiard game, and improving people's experience of the billiard game. Moreover, when the single-ball automatic positioning and swinging back robotic arm is used to pick up the ball, the final position of the abnormal ball can be accurately identified with high accuracy and short time consumption, so that the automatic positioning and swinging back robotic arm can more efficiently pick up the abnormal ball and restore it to the ideal position. By using a monitoring module to realize real-time monitoring of the billiard game, it is possible to promptly determine whether there is an abnormal ball in the single ball recognition result, and then to promptly pick up and reset the abnormal ball when it appears, and the moving module and the grabbing module enable the swinging robot arm to adapt and adjust according to the target billiard ball, thereby improving the flexibility of the swinging robot arm and enabling the swinging robot arm to better pick up abnormal balls. In addition, by installing a storage module, the swinging robot arm can be stored, so that the swinging robot arm is hidden when not in operation, avoiding the inconvenience caused by the swinging robot arm to people playing billiard games, reducing the impact of the swinging robot arm on people playing billiard games, thereby improving the game experience, and at the same time, it can also avoid people walking and colliding with the swinging robot arm, causing damage to the swinging robot arm, affecting the normal use of the swinging robot arm.

[0055] like Figure 2 As shown, in one embodiment provided by the present invention, the monitoring and collection module includes: a plurality of monitoring and collection units and a monitoring information integration unit;

[0056] The monitoring and collecting unit is used to perform multi-directional monitoring on the billiard game to obtain a plurality of monitoring and collecting fragment information;

[0057] The monitoring information integration unit is used to integrate the monitoring and collection fragment information to obtain game monitoring and collection information.

[0058] In the above technical solution, the monitoring and collecting units are arranged at different positions of the billiard game.

[0059] In the above technical solution, when the monitoring information integration unit integrates the monitoring and collected fragment information, it will splice and combine the monitoring and collected fragment information to restore the billiard game scene and obtain the game monitoring and collected information.

[0060] The above technical solution realizes all-round monitoring and collection of the billiard game through multiple monitoring and collection units, so that when the monitoring and collection module monitors and collects the billiard game, even if there is occlusion in the billiard game, the occluded part can be restored through other monitoring and collection units, ensuring that the game monitoring and collection information can include all the information of the billiard game, improving the comprehensiveness of the game monitoring and collection information, and integrating the monitoring and collection fragment information through the monitoring information integration unit, reducing the redundancy of overlapping information in the monitoring and collection fragment information, and at the same time ensuring the integrity of the game monitoring and collection information.

[0061] like Figure 3 As shown, in one embodiment provided by the present invention, the single ball recognition module includes: a game confirmation unit, a single ball tracking unit and an analysis and judgment unit;

[0062] The game confirmation unit is used to confirm the game balls of the billiard game;

[0063] The single ball tracking unit is used to identify and obtain the identification features of the game ball, obtain the feature information of the game ball, and perform single ball tracking in the game monitoring and collection information based on the feature information of the game ball to obtain the tracking information of the game ball;

[0064] The analysis and judgment unit is used to analyze the motion trajectory of the game ball according to the game ball tracking information, and judge whether the game ball is an abnormal ball in combination with the game rules to obtain a single ball recognition judgment result.

[0065] In the above technical solution, the game confirmation unit, the single ball tracking unit and the analysis and judgment unit are connected in sequence.

[0066] In the above technical solution, the single ball tracking unit and the analysis and judgment unit both analyze a single ball as the research object.

[0067] In the above technical solution, there are multiple game balls, and each game ball has an identification feature different from other game balls.

[0068] In the above technical solution, the single ball tracking unit uses multiple branches to perform single ball tracking on the game ball, and when single ball tracking is performed on multiple game balls at the same time, the branch is matched with the game ball that needs to be single ball tracked, and multiple branches perform single ball tracking in parallel based on the feature information of the game ball in the game monitoring and collection information.

[0069] In the above technical solution, the analysis and judgment unit adopts an analysis and judgment model to analyze and judge the game ball tracking information, and the game rules are pre-imported in the analysis and judgment model. After the single ball tracking unit obtains the game ball tracking information, the analysis and judgment model analyzes the game ball trajectory according to the game ball tracking information to determine the movement trajectory of the game ball, and then performs a preliminary analysis and judgment on the game ball movement trajectory in combination with the game rules to preliminarily determine whether the game ball movement trajectory meets the game specifications. When the game ball movement trajectory does not meet the game specifications, the game ball is an abnormal ball. When the game ball movement trajectory meets the game specifications, further analyze whether the game ball has fallen. When the game ball has fallen, analyze whether the landing point of the game ball meets the game specifications in combination with the game rules. When the landing point of the game ball does not meet the game specifications, the game ball is an abnormal ball.

[0070] The above technical scheme determines the game ball corresponding to the table tennis game in the single ball recognition module through the game confirmation unit, so that only the game balls involved in the table tennis game are analyzed to avoid interference from other balls, and the trace analysis of a single game ball is realized through the single ball tracking unit, which can not only realize the simultaneous single ball tracking of multiple game balls and improve the single ball tracking efficiency, but also clarify the movement of the game ball, provide information support for the analysis and judgment of the analysis and judgment unit, and facilitate the analysis and judgment unit to analyze and judge the game ball. In addition, the analysis and judgment unit determines the single ball recognition and judgment result in combination with the game rules, so as to avoid the trajectory of the game ball bringing about analysis and judgment illusions when it meets the game rules, improve the accuracy of the single ball recognition result, avoid the single ball automatic positioning and swinging robot arm from making an erroneous grasp due to analysis and judgment illusions, reduce the possibility of invalid operation of the single ball automatic positioning and swinging robot arm, and ensure the operation accuracy of the single ball automatic positioning and swinging robot arm.

[0071] In an embodiment provided by the present invention, when storing single-ball tracking information, the information storage module obtains the number of game balls, and divides the information storage unit into multiple storage units according to the number of game balls, and then obtains the identification features of the game balls, matches the identification features of the game balls with the storage units, and determines the matching correspondence relationship, so that when the single-ball tracking information is obtained, the single-ball tracking information is stored based on the matching correspondence relationship.

[0072] In the above technical solution, one game ball corresponds to one small storage unit.

[0073] The above technical solution realizes a one-to-one correspondence between single-ball tracking information and storage units by dividing the information storage module into small storage units according to the number of game balls. This not only facilitates information storage, but also facilitates the grasping module to retrieve stored information, thereby improving the operating efficiency of the single-ball automatic positioning and swinging robotic arm.

[0074] like Figure 4As shown, in one embodiment provided by the present invention, the installation and storage module includes: an identification control unit and a storage and release operation unit;

[0075] The identification control unit is used to obtain the single ball identification result obtained by the single ball identification module, and perform control analysis according to the single ball identification result. When the single ball identification result is an abnormal ball, a swing back mechanical arm start signal is generated, and a swing back mechanical arm retraction signal is generated after the grasping module operation is completed;

[0076] The retracting and releasing operation unit is used to start the swing arm from the storage and placement position or return it to the storage and placement position according to the swing arm start signal or the swing arm retraction signal.

[0077] In the above technical solution, the recognition control unit is connected to the single ball recognition module and the grabbing module respectively.

[0078] In the above technical solution, the swing-back robot arm is composed of a multi-section main body, and the storage module is installed to store and place the multi-section main body of the swing-back robot arm.

[0079] In the above technical solution, the identification control unit is connected to the retractable operation unit, and the identification control unit also performs sensing reminders for the swing-back mechanical arm. When the retractable operation unit starts the swing-back mechanical arm from the storage position according to the start signal of the swing-back mechanical arm, sensing monitoring is performed within a preset range near the swing-back mechanical arm to obtain sensing monitoring information, and then whether there are walking people near the swing-back mechanical arm is analyzed according to the sensing monitoring information. When there are walking people near the swing-back mechanical arm, an early warning is given to the walking people. The early warning can be either a sound prompt or a light prompt, or both, which can be set according to needs.

[0080] In the above technical solution, when the retraction and extension operation unit starts or returns the swing arm from the storage position according to the swing arm start signal or the swing arm retraction signal, the swing arm is started and extended according to the swing arm start signal, and the swing arm is retracted and released according to the swing arm retraction signal.

[0081] The above technical solution realizes the automatic start-up and return of the return-swing robotic arm by installing a storage module, so that the return-swing robotic arm can be started when it is needed and returned when the operation of the return-swing robotic arm is completed, reducing the impact of the return-swing robotic arm on the billiard game and improving the playing experience of the billiard game. In addition, the recognition control unit can perform sensing monitoring within a preset range near the return-swing robotic arm to avoid collisions caused by walking people not noticing the return-swing robotic arm, reducing the possibility of human damage to the return-swing robotic arm, and at the same time, it can also improve the attention of walking people and avoid adverse effects and feelings on walking people.

[0082] like Figure 5 As shown, in one embodiment provided by the present invention, the mobile module includes: a first analysis unit, a second analysis unit and a mobile control unit;

[0083] The first analysis unit is used to determine the target analysis ball according to the single ball recognition and judgment result, and obtain the single ball tracking information of the target analysis ball according to the target analysis ball to obtain the target single ball tracking information, and then analyze the final static position of the target analysis ball after falling in the target single ball tracking information to determine the position of the target analysis ball;

[0084] The second analysis unit is used to identify the target analysis ball, determine the type of the target analysis ball in the billiard game, and then analyze the target analysis ball position information in combination with the game rules according to the game ball type to determine whether the target analysis ball is reasonably in the target analysis ball position, thereby obtaining a first analysis and determination result;

[0085] The third analysis unit is used to analyze the swing back mechanical arm according to the first analysis and judgment result, and when the target analysis ball is unreasonable in the target analysis ball position, analyze the operation posture of the swing back mechanical arm, determine the operation distance of the swing back mechanical arm, and determine the target operation position of the swing back mechanical arm by combining the target analysis ball position information with the operation distance of the swing back mechanical arm to obtain the first target position, and then obtain the current position of the swing back mechanical arm, and perform movement trajectory analysis according to the current position of the swing back mechanical arm and the first target position combined with the movement track to determine the movement trajectory of the swing back mechanical arm;

[0086] The movement control unit is used to generate a movement control instruction of the swing robot arm according to the movement trajectory of the swing robot arm, and drive the swing robot arm to move to the first target position based on the movement control instruction of the swing robot arm.

[0087] In the above technical solution, the first analyzing unit, the second analyzing unit, the third analyzing unit and the mobile control unit are connected in sequence.

[0088] In the above technical solution, when the target analysis ball is determined according to the single ball recognition result, when the single ball recognition result is that an abnormal ball appears, the abnormal ball is further analyzed as the target analysis ball.

[0089] In the above technical solution, the game rules in the second analysis unit are matched according to the game rules of the billiard game, and the matched game rules are directly imported for analysis.

[0090] In the above technical solution, when the first analysis unit obtains the single ball tracking information of the target analysis ball according to the target analysis ball, the single ball tracking information is retrieved in the single ball recognition module according to the target analysis ball, and when the single ball tracking information is retrieved in the single ball recognition module according to the target analysis ball, the latest single ball tracking information is retrieved.

[0091] In the above technical solution, when the first analysis unit analyzes the final static position of the target analysis ball after it falls in the target single ball tracking information, if the target single ball tracking information coincides with the reflux trajectory of the game balls of the billiard game, then the target analysis ball position information is the ball collection box for the game balls of the billiard game; if the target single ball tracking information does not coincide with the reflux trajectory of the game balls of the billiard game, then the instantaneous speed and detachment direction of the target analysis ball when it leaves the game table of the billiard game are obtained according to the target single ball tracking information, and then the trajectory and landing point are predicted according to the instantaneous speed and detachment direction to determine the final static position of the game ball, thereby obtaining the target analysis ball position information.

[0092] In the above technical solution, when the third analysis unit performs the swing back robot arm analysis according to the first analysis judgment result, when the target analysis ball is reasonably in the target analysis ball position, there is no need to determine the movement trajectory of the swing back robot arm, nor is there any need to perform movement control for the swing back robot arm in the movement control unit.

[0093] In the above technical scheme, the rationality in the second analysis unit is determined by analyzing the game rules of the billiard game. For example, in the billiard game, when a game ball that does not belong to one's own team is hit into the pocket so that the opponent's ball enters the ball collection box, the game ball that does not belong to one's own team is used as the target analysis ball, and the position of the ball collection box is the target analysis ball position. At this time, according to the game rules, the target analysis ball is reasonable in the target analysis ball position. When the cue ball is hit into the table hole and enters the ball collection box, the cue ball is used as the target analysis ball, and the position of the ball collection box is the target analysis ball position. Based on the game rules, the target analysis ball is unreasonable in the target analysis ball position.

[0094] In the above technical solution, the swing-back robot arm is connected to a movable slide rail, and when the swing-back robot arm is moved to the first target position, it slides to the first target position based on the slide rail.

[0095] The above technical solution determines the first target position so that the swing arm can move according to actual conditions when grabbing abnormal balls, thereby improving the flexibility of the swing arm, providing convenience for the grabbing of the grabbing module, and making it possible to better grab abnormal balls in any position. When determining the first target position, the influence of the operating posture of the swing arm itself on the distance is taken into account, so that the swing arm can better perform grabbing operations.

[0096] like Figure 6As shown, in one embodiment provided by the present invention, the grasping module includes: an identification and analysis unit and a grasping and recovery unit, the identification and analysis unit is used to perform an ideal position analysis on a target analysis ball, determine an ideal position of an abnormal ball, and obtain a second target position, the grasping and recovery unit is used to generate a grasping control instruction for a swinging robot arm, grasp the abnormal ball through the swinging robot arm according to the grasping control instruction, and then place the abnormal ball at the second target position.

[0097] In the above technical solution, the identification and analysis unit is connected to the mobile module. When the identification and analysis unit performs an ideal position analysis on the target analysis ball, it directly obtains the analysis data information of the mobile module on the target analysis ball, combines the analysis data information of the target analysis ball with the current situation of the billiard game to determine the best position of the abnormal ball, thereby determining the ideal position of the abnormal ball and obtaining the second target position. The analysis data information of the target analysis ball includes the analysis data of the target analysis ball in the first analysis unit of the mobile module, the analysis data in the second analysis unit, and the analysis data in the third analysis unit.

[0098] The above technical solution realizes the control of the grabbing module through the identification and analysis unit and the grabbing and restoring unit, so that the swinging robot arm can grab the abnormal ball and place the abnormal ball at the second target position without human intervention, and the position of the abnormal ball before it falls can be understood through the identification and analysis unit, so that the abnormal ball can be restored to the ideal position of the abnormal ball to continue the billiard game, and the mobile module can be directly analyzed and acquired. The existing data in the mobile module is used for analysis, which effectively improves the efficiency of determining the second target position of the identification and analysis unit.

[0099] In one embodiment provided by the present invention, when determining the second target position, the identification and analysis unit includes: obtaining the target analysis ball position and the game ball type of the target analysis ball in the billiard game based on the target analysis ball in the moving module, and simultaneously retrieving the single ball tracking information stored in the information storage module to obtain the single ball tracking information of the target analysis ball; further analyzing the single ball tracking information of the target analysis ball according to the target analysis ball position and the game ball type, and when the target analysis ball position is a game ball collection box of the billiard game, judging whether the target analysis ball is the cue ball according to the game ball type, When the target analysis ball is the cue ball, the second target position is the preset point position; when the target analysis ball is not the cue ball, the position of the target analysis ball before the drop and impact is determined based on the single ball tracking information of the target analysis ball, and the position of the target analysis ball before the drop and impact is used as the second target position; when the target analysis ball position is not in the ball collection box for the table tennis game, it is determined whether the target analysis ball is the cue ball based on the type of game balls; when the target analysis ball is the cue ball, the second target position is the preset point position; when the target analysis ball is not the cue ball, the position of the ball collection box is the second target position.

[0100] In the above technical solution, based on the target analysis ball, analysis data is acquired in the first analysis unit of the mobile module to obtain the position of the target analysis ball, and analysis data is acquired in the second analysis unit to obtain the game ball type of the target analysis ball in the billiard game.

[0101] The above technical solution acquires data through analysis in the mobile module and retrieves information from the information storage module, so that the recognition and analysis unit can analyze and determine the second target position based on the existing data information, avoiding repeated data processing by the recognition and analysis unit, thereby improving the efficiency of the recognition and analysis unit, making it possible to determine the second target position in a shorter time, and also combining the game ball type for specific situation analysis, thereby achieving integration with the game rules of the billiard game, making the second target position effective and reasonable in the billiard game.

[0102] In one embodiment provided by the present invention, the grasping and recovery unit generates a grasping control instruction for the swing back robotic arm, and grasps the abnormal ball through the swing back robotic arm according to the grasping control instruction, and then when the abnormal ball is placed at the second target position, the target analysis ball position is obtained, and a relative position analysis is performed based on the target analysis ball position. When the target analysis ball position is in a game ball collection box of a billiard game, the relative position of the target analysis ball in the game ball collection box of the billiard game is analyzed to obtain first relative position information, and then the first relative position information is combined with the first target position to determine the telescopic control instruction of the swing back robotic arm. When the target analysis ball position is not in the game ball collection box of the billiard game, a relative position analysis is performed between the target analysis ball position and the first target position to obtain second relative position information, and then the telescopic control instruction of the swing back robotic arm is determined based on the second relative position combined with the first target position. Then, after the grasping unit configures the grasping control instruction for the swing back robotic arm, the telescopic control instruction is combined with the grasping control instruction to grasp the abnormal ball for the swing back robotic arm.

[0103] In the above technical solution, the swing-back robot arm includes: a grasping unit and a telescopic unit, and the telescopic unit is used to perform telescopic adjustment on the multi-section body.

[0104] In the above technical scheme, when the first relative position information is combined with the first target position to determine the telescopic control instruction of the return-swing robot arm, the current multi-section body state information of the return-swing robot arm is acquired to obtain the current state information of the return-swing robot arm, and the current operating distance of the return-swing robot arm is determined according to the current state information of the return-swing robot arm. The current operating distance of the return-swing robot arm is combined with the first target position and the first relative position information to analyze whether the return-swing robot arm can operate at the first target position. When the return-swing robot arm cannot operate at the first target position, the difference between the current operating distance and the actual operating distance is analyzed to obtain the difference analysis result, and the telescopic control instruction of the return-swing robot arm is determined according to the difference analysis result.

[0105] In the above technical scheme, when the telescopic control instruction of the return-swing robot arm is determined according to the second relative position, the current multi-section body state information of the return-swing robot arm is acquired to obtain the current state information of the return-swing robot arm, and the current operating distance of the return-swing robot arm is determined according to the current state information of the return-swing robot arm, and the current operating distance of the return-swing robot arm is combined with the first target position and the second relative position information to analyze whether the return-swing robot arm can operate at the first target position; when the return-swing robot arm cannot operate at the first target position, the difference between the current operating distance and the actual operating distance is analyzed to obtain the difference analysis result, and the telescopic control instruction of the return-swing robot arm is determined according to the difference analysis result.

[0106] The above technical solution analyzes different situations and determines control instructions by combining the target analysis ball position, so that the swinging robot arm can more accurately grab abnormal balls based on the telescopic control instructions combined with the grasping control instructions, and thus can better ensure the progress of the billiards game when abnormal balls appear.

[0107] The present invention provides a billiard table, comprising: a billiard table body and a single-ball automatic positioning and swinging mechanical arm described in any single-ball automatic positioning and swinging mechanical arm embodiment, wherein movable slide rails are installed around the billiard table body, the single-ball automatic positioning and swinging mechanical arm is connected to the movable slide rails, and a storage and placement device is provided below the billiard table body for storing and placing the single-ball automatic positioning and swinging mechanical arm.

[0108] In the above technical solution, the storage and placement device is used to store and place the entire single-ball automatic positioning and swinging mechanical arm.

[0109] The above technical solution applies the single-ball automatic positioning and returning swinging robotic arm to the billiard game, and integrates the single-ball automatic positioning and returning swinging robotic arm with the billiard table body, so that when playing the billiard game, the single-ball automatic positioning and returning swinging robotic arm can be used to grab and put back the billiard balls that should not fall. This is not only efficient, but also does not require manual picking of the balls, providing convenience for people playing billiard and billiard games.

[0110] Those skilled in the art should understand that the first and second in the present invention merely refer to different application stages.

[0111] 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.

[0112] 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 single-ball automatic positioning and swinging back mechanical arm, characterized in that: include: Monitoring and acquisition module, single ball recognition module, movement module, grabbing module, information storage module and installation and storage module; The monitoring and collection module is used to monitor the game balls in the billiard game and obtain game monitoring and collection information; The single ball recognition module is used to track a single ball according to the game monitoring and collection information, obtain the single ball tracking information, and determine whether an abnormal ball appears according to the single ball tracking information to obtain a single ball recognition judgment result; The moving module is used to obtain the final position of the abnormal ball according to the single ball identification and judgment result, determine the first target position, and move the swing back mechanical arm to the first target position; The grabbing module is used to retrieve the single ball tracking information stored in the information storage module, analyze the ideal position of the abnormal ball, obtain the second target position, grab the abnormal ball using the swinging mechanical arm, and then place the abnormal ball at the second target position; The information storage module is used to store single ball tracking information; The installation storage module is used to store and place the balls for the swing-back robot arm according to the single ball recognition and judgment result and the operation status of the grasping module.

2. The single-ball automatic positioning and swinging back mechanical arm according to claim 1, characterized in that: The monitoring and collection module includes: a plurality of monitoring and collection units and a monitoring information integration unit; The monitoring and collecting unit is used to perform multi-directional monitoring on the billiard game to obtain a plurality of monitoring and collecting fragment information; The monitoring information integration unit is used to integrate the monitoring and collection fragment information to obtain game monitoring and collection information.

3. The single-ball automatic positioning and swinging back mechanical arm according to claim 1, characterized in that: The single ball recognition module includes: a game confirmation unit, a single ball tracking unit and an analysis and judgment unit; The game confirmation unit is used to confirm the game balls of the billiard game and import the game rules; The single ball tracking unit is used to identify and obtain the identification features of the game ball, obtain the feature information of the game ball, and perform single ball tracking in the game monitoring and collection information based on the feature information of the game ball to obtain the tracking information of the game ball; The analysis and judgment unit is used to analyze the motion trajectory of the game ball according to the game ball tracking information, and judge whether the game ball is an abnormal ball in combination with the game rules to obtain a single ball recognition judgment result.

4. The single-ball automatic positioning and swinging back mechanical arm according to claim 1, characterized in that: When storing single-ball tracking information, the information storage module obtains the number of game balls, and divides the information storage unit into multiple storage units according to the number of game balls, then obtains the identification features of the game balls, matches the identification features of the game balls with the storage units, and determines the matching correspondence relationship, so that when the single-ball tracking information is obtained, the single-ball tracking information is stored based on the matching correspondence relationship.

5. The single-ball automatic positioning and swinging back mechanical arm according to claim 1, characterized in that: The installation and storage module includes: an identification control unit and a storage and release operation unit; The identification control unit is used to obtain the single ball identification result obtained by the single ball identification module, and perform control analysis according to the single ball identification result. When the single ball identification result is an abnormal ball, a swing back mechanical arm start signal is generated, and a swing back mechanical arm retraction signal is generated after the grasping module operation is completed; The retracting and releasing operation unit is used to start the swing arm from the storage and placement position or return it to the storage and placement position according to the swing arm start signal or the swing arm retraction signal.

6. The single-ball automatic positioning and swinging back mechanical arm according to claim 1, characterized in that: The mobile module includes: a first analysis unit, a second analysis unit, a third analysis unit and a mobile control unit; The first analysis unit is used to determine the target analysis ball according to the single ball recognition and judgment result, and obtain the single ball tracking information of the target analysis ball according to the target analysis ball to obtain the target single ball tracking information, and then analyze the final static position of the target analysis ball after falling in the target single ball tracking information to determine the position of the target analysis ball; The second analysis unit is used to identify the target analysis ball, determine the type of the target analysis ball in the billiard game, and then analyze the target analysis ball position information in combination with the game rules according to the game ball type to determine whether the target analysis ball is reasonably in the target analysis ball position, thereby obtaining a first analysis and determination result; The third analysis unit is used to analyze the swing back mechanical arm according to the first analysis and judgment result, and when the target analysis ball is unreasonable in the target analysis ball position, analyze the operation posture of the swing back mechanical arm, determine the operation distance of the swing back mechanical arm, and determine the target operation position of the swing back mechanical arm by combining the target analysis ball position information with the operation distance of the swing back mechanical arm to obtain the first target position, and then obtain the current position of the swing back mechanical arm, and perform movement trajectory analysis according to the current position of the swing back mechanical arm and the first target position combined with the movement track to determine the movement trajectory of the swing back mechanical arm; The movement control unit is used to generate a movement control instruction of the swing robot arm according to the movement trajectory of the swing robot arm, and drive the swing robot arm to move to the first target position based on the movement control instruction of the swing robot arm.

7. The single-ball automatic positioning and swinging back mechanical arm according to claim 6, characterized in that: The grasping module includes: an identification and analysis unit and a grasping and recovery unit. The identification and analysis unit is used to perform an ideal position analysis on the target analysis ball, determine the ideal position of the abnormal ball, and obtain a second target position. The grasping and recovery unit is used to generate a grasping control instruction for the swinging robot arm, grasp the abnormal ball through the swinging robot arm according to the grasping control instruction, and then place the abnormal ball at the second target position.

8. The single-ball automatic positioning and swinging back mechanical arm according to claim 7, characterized in that: When determining the second target position, the identification and analysis unit includes: obtaining the target analysis ball position and the game ball type of the target analysis ball in the billiard game based on the target analysis ball in the moving module, and calling the single ball tracking information stored in the information storage module to obtain the single ball tracking information of the target analysis ball; further analyzing the single ball tracking information of the target analysis ball according to the target analysis ball position and the game ball type, when the target analysis ball position is a ball collection box for the billiard game, judging whether the target analysis ball is a mother ball according to the game ball type, when the target analysis ball is the mother ball, the second target position is the preset point position, when the target analysis ball is not the mother ball, determining the position of the target analysis ball before the drop and impact occurs according to the single ball tracking information of the target analysis ball, and taking the position of the target analysis ball before the drop and impact occurs as the second target position, when the target analysis ball position is not a ball collection box for the billiard game, judging whether the target analysis ball is a mother ball according to the game ball type, when the target analysis ball is the mother ball, the second target position is the preset point position, and when the target analysis ball is not the mother ball, the position of the ball collection box is the second target position.

9. The single-ball automatic positioning and swinging back mechanical arm according to claim 8, characterized in that: The grasping and recovery unit generates a grasping control instruction for the swing-back robotic arm, and grasps the abnormal ball through the swing-back robotic arm according to the grasping control instruction. Then, when the abnormal ball is placed at the second target position, the target analysis ball position is obtained, and a relative position analysis is performed based on the target analysis ball position. When the target analysis ball position is in a game ball collection box for a billiard game, the relative position of the target analysis ball in the game ball collection box for a billiard game is analyzed to obtain first relative position information. Then, the first relative position information is combined with the first target position to determine the telescopic control instruction of the swing-back robotic arm. When the target analysis ball position is not in the game ball collection box for a billiard game, a relative position analysis is performed between the target analysis ball position and the first target position to obtain second relative position information. Then, the telescopic control instruction of the swing-back robotic arm is determined based on the second relative position combined with the first target position. Then, after the grasping unit configures the grasping control instruction for the swing-back robotic arm, the telescopic control instruction is combined with the grasping control instruction to grasp the abnormal ball for the swing-back robotic arm.

10. A billiard table, characterized in that: include: A billiard table body and a single-ball automatic positioning and swinging mechanical arm as described in any one of claims 1 to 9, wherein movable slide rails are installed around the billiard table body, the single-ball automatic positioning and swinging mechanical arm is connected to the movable slide rails, and a storage and placement device is provided below the billiard table body for storing and placing the single-ball automatic positioning and swinging mechanical arm.

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