A single-ball automatic positioning and swinging robotic arm and its billiard table

Abstract

The present invention provides a single-ball automatic positioning and swinging robotic arm and a billiard table. The single-ball automatic positioning and swinging robotic arm includes: a monitoring and acquisition module, a single-ball recognition module, a moving module, a grasping module, an information storage module, and an installation and storage module; wherein, the monitoring and acquisition module is connected to the single-ball recognition module, and the single-ball recognition module is respectively connected to output to the moving module, the grasping module, and the information storage module. The installation and storage module is connected to the single-ball recognition module and is also connected to the grasping module. The present invention combines the single-ball automatic positioning and swinging robotic arm with the billiard table, identifies abnormal balls, and grabs and returns the abnormal balls, which is not only highly efficient but also does not require manual ball picking, providing convenience for people playing billiards games.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and particularly relates to a single-ball automatic positioning and swinging robotic arm and a billiard table thereof. Background Art

[0002] Billiards is an indoor sports widely popular internationally. It is a recreational activity where a cue stick is used to hit balls on a table, and the game result is determined by calculating scores. It can also be called billiards or pool. Billiards requires a billiard table. Existing billiard tables are simple mechanical mechanisms. During the process of people playing billiards on the table, it is often necessary to manually pick up the balls that should not fall. This is not only inconvenient but also time-consuming. Therefore, taking billiards as an example (but not limited to this billiards game), the present invention proposes a single-ball automatic positioning and swinging robotic arm. By combining the single-ball automatic positioning and swinging robotic arm with a billiard table, it can identify abnormal balls and grab and replace the abnormal balls, which is not only highly efficient but also does not require manual ball picking, providing convenience for people playing billiards. Summary of the Invention

[0003] The purpose of the present invention is to provide a single-ball automatic positioning and swinging robotic arm and a billiard table thereof to solve the problems raised in the above background art.

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

[0005] A monitoring and acquisition module, a single-ball recognition module, a moving module, a grasping module, an information storage module, and an installation and storage module;

[0006] The monitoring and acquisition module is used to monitor the game balls during the billiards game and obtain game monitoring and acquisition information;

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

[0008] The moving module is used to obtain the final position of the abnormal ball according to the single-ball recognition and judgment result, determine a first target position, and move the swinging robotic arm to the first target position;

[0009] The grasping module is used to retrieve the single-ball tracking information stored in the information storage module, analyze the ideal position of the abnormal ball to obtain a second target position, and use the swinging robotic arm to grasp the abnormal ball and then place the abnormal ball at the second target position;

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

[0011] The installation and storage module is used to store and place the pendulum robot arm according to the single ball recognition and judgment result and the operation condition of the grasping module.

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

[0013] The monitoring and acquisition unit is used to perform multi-directional monitoring on the billiards game to obtain a plurality of monitoring and acquisition segment information;

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

[0015] Further, 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 ball of the billiards game and import the game rules;

[0017] The single ball tracking unit is used to identify and obtain the identification characteristics of the game ball to obtain game ball characteristic information, and perform single ball tracking on the game monitoring and acquisition information based on the game ball characteristic information to obtain game ball tracking information;

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

[0019] Further, when storing the single ball tracking information, the information storage module obtains the number of game balls, divides the information storage unit into multiple storage sub-units according to the number of game balls, then obtains the identification characteristics of the game balls, matches the identification characteristics of the game balls with the storage sub-units to determine the matching correspondence, and thus stores the single ball tracking information based on the matching correspondence when the single ball tracking information is obtained.

[0020] Further, the installation and storage module includes: an identification control unit and a retracting and extending operation unit;

[0021] The identification control unit is used to obtain the single ball recognition and judgment result obtained by the single ball recognition module, perform control analysis according to the single ball recognition and judgment result, generate a pendulum robot arm start signal when the single ball recognition and judgment result is an abnormal ball that does not conform to the game rules, and monitor the operation of the grasping module to obtain the operation process of the grasping module, and generate a pendulum robot arm retracting signal after the operation of the grasping module is completed;

[0022] The retracting and extending operation unit is used to start or retract the pendulum robot arm from the storage and placement position according to the pendulum robot arm start signal or the pendulum robot arm retracting signal.

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

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

[0025] The second analysis unit is configured to identify the target analysis ball, determine the type of the game ball of the target analysis ball in the billiards game, and then analyze according to the type of the game ball in combination with the game rules for the target analysis ball position information to determine whether the target analysis ball is reasonable in the target analysis ball position, and obtain a first analysis judgment result;

[0026] The third analysis unit is configured to perform a backswing robotic arm analysis according to the first analysis judgment result. When the target analysis ball is not reasonable in the target analysis ball position, analyze the operating posture of the backswing robotic arm, determine the operating distance of the backswing robotic arm, and combine the target analysis ball position information with the operating distance of the backswing robotic arm to determine the target operating position of the backswing robotic arm, obtain a first target position, and then obtain the current position of the backswing robotic arm. Based on the current position and the first target position of the backswing robotic arm, perform a movement trajectory analysis in combination with the movement track to determine the movement trajectory of the backswing robotic arm;

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

[0028] Further, the grasping module includes: a recognition and analysis unit and a grasping and restoration unit. The recognition and analysis unit is configured to perform an ideal position analysis on the target analysis ball to determine the ideal position of the abnormal ball and obtain a second target position. The grasping and restoration unit is configured to generate a grasping control instruction for the backswing robotic arm, and grasp the abnormal ball through the backswing robotic arm according to the grasping control instruction, and then place the abnormal ball at the second target position.

[0029] Further, when determining the second target position, the recognition and analysis unit includes: obtaining the target analysis ball position and the game ball type of the target analysis ball in the billiards 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 in combination with the game ball type. When the target analysis ball position is the game ball collection box of the billiards game, it is judged 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 dropping impact is determined according to the single-ball tracking information of the target analysis ball, and the position of the target analysis ball before the dropping impact is used as the second target position. When the target analysis ball position is not the game ball collection box of the billiards game, it is judged 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 collection box is the second target position.

[0030] Further, when the grasping and restoring unit generates a grasping control instruction for the swing-back robotic arm, grasps the abnormal ball through the swing-back robotic arm according to the grasping control instruction, and then places the abnormal ball at the second target position, it obtains the target analysis ball position and performs relative position analysis according to the target analysis ball position. When the target analysis ball position is in the game ball collection box of the billiards game, it analyzes the relative position of the target analysis ball in the game ball collection box of the billiards game to obtain the first relative position information, and then combines the first relative position information 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 billiards game, it performs relative position analysis on the target analysis ball position and the first target position to obtain the second relative position information, and then determines the telescopic control instruction of the swing-back robotic arm according to the second relative position in combination with the first target position. Furthermore, 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 perform abnormal ball grasping on the swing-back robotic arm.

[0031] A billiard table includes: a billiard table body and the single-ball automatic positioning and swing-back robotic arm as described in any one of the above. Moving slides are installed around the billiard table body, and the single-ball automatic positioning and swing-back robotic arm is connected to the moving slides. Moreover, a storage and placement device is provided under the billiard table body for storing and placing the single-ball automatic positioning and swing-back robotic arm.

[0032] Through the single-ball automatic positioning and swinging robotic arm, the present invention can not only pick up abnormal balls, but also restore the abnormal balls to the ideal positions, enabling people to continue the billiards game without manual ball picking, saving labor consumption, providing convenience for people playing billiards, enhancing people's experience of the billiards game. Moreover, when using the single-ball automatic positioning and swinging robotic arm to pick up balls, it can accurately identify the final positions of abnormal balls, with high accuracy and short time consumption, enabling the automatic positioning and swinging robotic arm to pick up abnormal balls more efficiently and restore them to the ideal positions. Through the monitoring module, the real-time monitoring of the billiards game is realized, enabling the timely determination of whether there are abnormal balls in the single-ball recognition results, and thus enabling the timely picking and resetting when abnormal balls appear. And through the moving module and the grasping module, the swinging robotic arm can be adaptively adjusted according to the target billiard balls, improving the flexibility of the swinging robotic arm and enabling the swinging robotic arm to pick up abnormal balls better. In addition, through the installation of the storage module, the storage of the swinging robotic arm is realized, enabling the swinging robotic arm to be hidden and stored when not in operation, avoiding the inconvenience caused by the swinging robotic arm to people playing billiards and reducing the impact of the swinging robotic arm on people playing billiards, thereby enhancing the game experience.

[0033] Other features and advantages of the present invention will be described in the following specification, and in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification and the drawings.

[0034] The following will further describe the technical solutions of the present invention in detail through the drawings and embodiments. Description of the Drawings

[0035] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation to the present invention. In the drawings:

[0036] Figure 1 It is a schematic diagram of the modules of the single-ball automatic positioning and swinging robotic arm described in 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 robotic arm described in the present invention;

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

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

[0040] Figure 5Schematic diagram of the moving module in the single-ball automatic positioning and swinging robotic arm according to the present invention;

[0041] Figure 6 Schematic diagram of the grasping module in the single-ball automatic positioning and swinging robotic arm according to the present invention. Detailed implementation manners

[0042] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

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

[0044] The monitoring and acquisition module is used to monitor the game balls for a billiards game and obtain game monitoring and acquisition information;

[0045] The single-ball recognition module is used to track a single ball according to the game monitoring and acquisition information, obtain single-ball tracking information, and judge 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 recognition judgment result, determine a first target position, and move the swinging robotic arm to the first target position;

[0047] The grasping module is used to retrieve the single-ball tracking information stored in the information storage module, analyze the ideal position of the abnormal ball to obtain a second target position, and use the swinging robotic arm to grasp the abnormal ball and then place the abnormal ball at the second target position;

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

[0049] The installation and storage module is used to store and place the swinging robotic arm according to the single-ball recognition judgment result and the operation condition 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 outputs connections 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 billiards game can be a billiards game or other billiards games. When the billiards game is a billiards game, monitoring the game balls for the billiards game is to monitor the billiards on the billiards table.

[0052] In the above technical solution, an abnormal ball refers to a game ball that has left the table of the billiards game.

[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 drops.

[0054] In the above technical solution, the single-ball automatic positioning and swinging-back robotic arm can not only pick up the abnormal ball, but also restore the abnormal ball to the ideal position, enabling people to continue the billiards game without the need for manual ball picking, saving labor consumption, providing convenience for people playing billiards, enhancing people's experience of the billiards game. Moreover, when using the single-ball automatic positioning and swinging-back robotic arm to pick up the ball, it can also accurately identify the final position of the abnormal ball, with high accuracy and short time consumption, enabling the automatic positioning and swinging-back robotic arm to pick up the abnormal ball more efficiently and restore it to the ideal position. Through the monitoring and acquisition module, the real-time monitoring of the billiards game is realized, enabling the timely determination of whether there is an abnormal ball in the single-ball recognition result, and then enabling the timely picking up and resetting when an abnormal ball appears. And through the moving module and the grasping module, the swinging-back robotic arm can be adaptively adjusted according to the target billiard ball, improving the flexibility of the swinging-back robotic arm, enabling the swinging-back robotic arm to better pick up the abnormal ball. In addition, by installing the storage module, the swinging-back robotic arm can be stored, enabling the swinging-back robotic arm to be hidden and not operating, avoiding the inconvenience caused by the swinging-back robotic arm to people playing billiards, reducing the impact of the swinging-back robotic arm on people playing billiards, thus enhancing the game experience. At the same time, it can also prevent people from accidentally colliding with the swinging-back robotic arm and damaging the swinging-back robotic arm, affecting the normal use of the swinging-back robotic arm.

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

[0056] The monitoring and acquisition units are used to perform multi-directional monitoring on the billiards game to obtain a plurality of monitoring and acquisition segment information;

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

[0058] In the above technical solution, the monitoring and acquisition units are arranged in different directions of the billiards game.

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

[0060] The above technical solution realizes the omni-directional monitoring and acquisition of the billiards game through multiple monitoring and acquisition units. When the monitoring and acquisition module monitors and acquires the billiards game, even if there is occlusion in the billiards game, the occluded part can be restored through other monitoring and acquisition units, ensuring that the game monitoring and acquisition information can include all the information of the billiards game, improving the comprehensiveness of the game monitoring and acquisition information, and realizing the integration of the monitoring and acquisition segment information through the monitoring information integration unit, reducing the redundancy of the overlapping information in the monitoring and acquisition segment information, and at the same time ensuring the integrity of the game monitoring and acquisition information.

[0061] As Figure 3 shown, in an 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 billiards game;

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

[0064] The analysis and judgment unit is used to analyze the movement trajectory of the game balls according to the game ball tracking information, and combine the game rules to judge whether the game balls are abnormal balls to obtain the 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, both the single ball tracking unit and the analysis and judgment unit analyze with a single ball as the research object.

[0067] In the above technical solution, the number of game balls is multiple, and each game ball has identification features different from those of 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 balls. Moreover, when performing single ball tracking on multiple game balls simultaneously, the branches are matched with the game balls that need to be tracked, and the multiple branches perform single ball tracking on the game monitoring and acquisition information in parallel based on the game ball feature 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 the figure, in an embodiment provided by the present invention, the installation and storage module includes: an identification and control unit and a retraction and extension operation unit;

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

[0076] The retraction and extension operation unit is configured to start or retract the swing arm from 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 identification and control unit is respectively connected to the single ball identification module and the grasping module.

[0078] In the above technical solution, the swing arm is composed of multiple sections of the main body, and the installation and storage module stores and places the multiple sections of the main body of the swing arm.

[0079] In the above technical solution, the identification and control unit is connected to the retraction and extension operation unit, and the identification and control unit also performs induction reminder for the swing arm. After the retraction and extension operation unit starts the swing arm from the storage and placement position according to the swing arm start signal, it performs induction monitoring within a preset range near the swing arm, obtains the induction monitoring information, and then analyzes whether there are moving personnel near the swing arm according to the induction monitoring information. When there are moving personnel near the swing arm, a warning prompt is given to the moving personnel. The warning prompt method can be any one of the sound prompt and the light prompt, or both methods can be used for prompt at the same time, which is set according to the requirements.

[0080] In the above technical solution, when the retraction and extension operation unit starts or retracts the swing arm from the storage and placement position according to the swing arm start signal or the swing arm retraction signal, it starts and extends the swing arm according to the swing arm start signal, and retracts and stores the swing arm according to the swing arm retraction signal.

[0081] The above technical solution realizes the automatic start and storage of the swing arm through the installation and storage module, so that the swing arm is started when needed and stored when the operation of the swing arm is completed, reducing the impact of the swing arm on the billiard game and improving the playing experience of the billiard game. Moreover, the identification and control unit monitors the induction within a preset range near the swing arm, avoiding collisions caused by moving personnel not noticing the swing arm, reducing the possibility of human damage to the swing arm, and at the same time improving the attention of moving personnel and avoiding adverse effects and feelings on moving personnel.

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

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

[0084] The second analysis unit is configured to identify the target analysis ball, determine the game ball type of the target analysis ball in the billiards game, and then analyze the target analysis ball position information in combination with the game rules according to the game ball type to judge whether the target analysis ball is reasonable in the target analysis ball position, and obtain the first analysis judgment result;

[0085] The third analysis unit is configured to perform a swing-back robotic arm analysis according to the first analysis judgment result. When the target analysis ball is unreasonable in the target analysis ball position, analyze the operating posture of the swing-back robotic arm, determine the operating distance of the swing-back robotic arm, and combine the target analysis ball position information with the operating distance of the swing-back robotic arm to determine the target operating position of the swing-back robotic arm, obtain the first target position, then obtain the current position of the swing-back robotic arm, and perform a movement trajectory analysis according to the current position and the first target position of the swing-back robotic arm in combination with the movement track to determine the movement trajectory of the swing-back robotic arm;

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

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

[0088] In the above technical solution, when determining the target analysis ball according to the single ball recognition judgment result, when the single ball recognition judgment result is an abnormal ball, the abnormal ball is used as the target analysis ball for further analysis.

[0089] In the above technical solution, the game rules in the second analysis unit are matched according to the billiards 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 from the single ball recognition module according to the target analysis ball, and when retrieving the single ball tracking information from 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 game ball return trajectory of the billiards game, the target analysis ball position information is the game ball collection box of the billiards game. If the target single-ball tracking information does not coincide with the game ball return trajectory of the billiards game, the instantaneous velocity and the separation direction of the target analysis ball when it separates from the game table of the billiards game are obtained according to the target single-ball tracking information, and then the trajectory and the landing situation are predicted based on the instantaneous velocity and the separation direction to determine the final static position of the game ball, so as to obtain the target analysis ball position information.

[0092] In the above technical solution, when the third analysis unit analyzes the swing-back robotic arm according to the first analysis and judgment result, when the target analysis ball is reasonable in the target analysis ball position, there is no need to determine the movement trajectory of the swing-back robotic arm, nor is there a need to perform movement control on the swing-back robotic arm in the movement control unit.

[0093] In the above technical solution, the rationality in the second analysis unit is determined by analyzing the game rules of the billiards game. For example, in a billiards game, when a game ball that does not belong to one's own side is hit into the pocket so that the opponent's ball enters the collection box, the game ball that does not belong to one's own side is used as the target analysis ball, and the position of the 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 collection box, the cue ball is used as the target analysis ball, and the position of the 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 robotic arm is connected to the moving slide rail. When the swing-back robotic 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 enables the swing-back robotic arm to move according to the actual situation when grasping an abnormal ball through the determination of the first target position, improves the flexibility of the swing-back robotic arm, provides convenience for the grasping of the grasping module, enables better grasping of abnormal balls at any position, and when determining the first target position, considering the influence of the posture of the swing-back robotic arm itself in terms of distance, enables the swing-back robotic arm to perform better grasping operations.

[0096] Such as Figure 6As shown in the figure, in an embodiment provided by the present invention, the grasping module includes: an identification and analysis unit and a grasping and restoration unit. The identification and analysis unit is used to analyze the ideal position of the target analysis ball, determine the ideal position of the abnormal ball, and obtain the second target position. The grasping and restoration unit is used to generate a grasping control instruction for the swinging robotic arm, and grasp the abnormal ball through the swinging robotic 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 moving module. When analyzing the ideal position of the target analysis ball, the identification and analysis unit directly obtains the analysis data information of the target analysis ball by the moving module, combines the analysis data information of the target analysis ball with the current situation of the billiards game to determine the best position of the abnormal ball, so as to determine the ideal position of the abnormal ball and obtain the second target position. Among them, the analysis data information of the target analysis ball includes the analysis data in the first analysis unit of the moving 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 grasping module through the identification and analysis unit and the grasping and restoration unit, enabling the swinging robotic arm to grasp the abnormal ball and place the abnormal ball at the second target position without manual participation. Moreover, by the identification and analysis unit, the position of the abnormal ball before the dropping phenomenon can be understood, so that the abnormal ball can be restored to its ideal position to continue the billiards game. And for the moving module, the analysis data can be directly obtained and analyzed using the existing data in the moving module, effectively improving the determination efficiency of the second target position by the identification and analysis unit.

[0099] In an embodiment provided by the present invention, when determining the second target position, the identification and analysis unit includes: obtaining the position of the target analysis ball in the moving module and the type of the game ball of the target analysis ball in the billiards game based on the target analysis ball, and at the same time 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 position of the target analysis ball combined with the type of the game ball. When the position of the target analysis ball is the ball collection box of the game balls in the billiards game, it is judged whether the target analysis ball is the cue ball according to the type of the game ball. 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 dropping impact is determined according to the single-ball tracking information of the target analysis ball, and the position of the target analysis ball before the dropping impact is used as the second target position. When the position of the target analysis ball is not the ball collection box of the game balls in the billiards game, it is judged whether the target analysis ball is the cue ball according to the type of the game ball. 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 acquisition is performed in the first analysis unit of the movement module to obtain the position of the target analysis ball, and analysis data acquisition is performed in the second analysis unit to obtain the game ball type of the target analysis ball in the billiards game.

[0101] In the above technical solution, by performing analysis data acquisition in the movement module and information retrieval in the information storage module, 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, improving the efficiency of the recognition and analysis unit, enabling the determination of the second target position in a shorter time, and also combining the game ball type for specific situation analysis, realizing the integration with the game rules of the billiards game, making the second target position effective and reasonable in the billiards game.

[0102] In an embodiment provided by the present invention, when the grasping and restoring unit generates a grasping control instruction for the swinging manipulator, grabs the abnormal ball through the swinging manipulator according to the grasping control instruction, and then places the abnormal ball at the second target position, it obtains the position of the target analysis ball and performs relative position analysis based on the position of the target analysis ball. When the position of the target analysis ball is in the game ball collecting box of the billiards game, it analyzes the relative position of the target analysis ball in the game ball collecting box of the billiards game to obtain the first relative position information, and then combines the first relative position information with the first target position to determine the telescopic control instruction of the swinging manipulator. When the position of the target analysis ball is not in the game ball collecting box of the billiards game, it performs relative position analysis on the position of the target analysis ball and the first target position to obtain the second relative position information, and then combines the second relative position with the first target position to determine the telescopic control instruction of the swinging manipulator. Furthermore, after the grasping unit configures the grasping control instruction for the swinging manipulator, it combines the telescopic control instruction with the grasping control instruction to perform abnormal ball grasping on the swinging manipulator.

[0103] In the above technical solution, the swinging manipulator includes: a grasping unit and a telescopic unit, and the telescopic unit is used to perform telescopic adjustment on the multi-section main body.

[0104] In the above technical solution, when determining the telescopic control instruction of the swing robotic arm by combining the first relative position information with the first target position, the current multi-section body state information of the swing robotic arm is obtained, the current state information of the swing robotic arm is obtained, the current operating distance of the swing robotic arm is determined according to the current state information of the swing robotic arm, and the current operating distance of the swing robotic arm is combined with the first target position and the first relative position information to analyze whether the swing robotic arm can perform an operation at the first target position. When the swing robotic arm cannot perform an operation at the first target position, the difference between the current operating distance and the actual operating distance is analyzed to obtain a difference analysis result, and the telescopic control instruction of the swing robotic arm is determined according to the difference analysis result.

[0105] In the above technical solution, when determining the telescopic control instruction of the swing robotic arm according to the second relative position, the current multi-section body state information of the swing robotic arm is obtained, the current state information of the swing robotic arm is obtained, the current operating distance of the swing robotic arm is determined according to the current state information of the swing robotic arm, and the current operating distance of the swing robotic arm is combined with the first target position and the second relative position information to analyze whether the swing robotic arm can perform an operation at the first target position. When the swing robotic arm cannot perform an operation at the first target position, the difference between the current operating distance and the actual operating distance is analyzed to obtain a difference analysis result, and the telescopic control instruction of the swing robotic arm is determined according to the difference analysis result.

[0106] The above technical solution analyzes and determines control instructions in different situations by combining the target analysis ball position, enabling the swing robotic arm to more accurately grasp abnormal balls based on the telescopic control instruction combined with the grasping control instruction, and thus better ensuring the progress of the billiards game in the event of an abnormal ball.

[0107] The present invention provides a billiard table, including: a billiard table body and a single-ball automatic positioning swing robotic arm as described in any single-ball automatic positioning swing robotic arm embodiment. Moving slides are installed around the billiard table body, and the single-ball automatic positioning swing robotic arm is connected to the moving slides. Moreover, a storage and placement device is provided below the billiard table body for storing and placing the single-ball automatic positioning swing robotic arm.

[0108] In the above technical solution, the storage and placement device stores and places the entire single-ball automatic positioning swing robotic arm.

[0109] The above technical solution applies the single-ball automatic positioning swing robotic arm to the billiards game and integrates the single-ball automatic positioning swing robotic arm with the billiard table body, so that during the billiards game, the single-ball automatic positioning swing robotic arm can be used to grab and replace the billiards that should not fall. This is not only highly efficient but also does not require manual ball picking, providing convenience for people playing billiards.

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

[0111] After considering the specification and practicing the disclosure herein, those skilled in the art will readily conceive of other embodiments of the present disclosure. 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 known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0112] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A single-ball automatic positioning and swinging-back manipulator, characterized in that, Including: A monitoring and acquisition module, a single-ball recognition module, a moving module, a grasping module, an information storage module, and an installation and storage module; The monitoring and acquisition module is used to monitor the game balls for the billiards game and obtain game monitoring and acquisition information; The single-ball recognition module is used to track a single ball based on the game monitoring and acquisition information, obtain 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 recognition judgment result, determine the first target position, and move the pendulum robot arm to the first target position; The grasping module is used to retrieve the single-ball tracking information stored in the information storage module, analyze the ideal position of the abnormal ball to obtain a second target position, and use the pendulum robot arm to grasp the abnormal ball and then place the abnormal ball at the second target position; The information storage module is used to store the single-ball tracking information; The installation and storage module is used to store and place the pendulum robot arm according to the single-ball recognition judgment result and the operation situation of the grasping module; Among them, when the single-ball recognition module determines whether an abnormal ball appears according to the single-ball tracking information, an analysis and judgment model is used to analyze and judge the game ball tracking information. The game rules are pre-imported into 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 game ball movement trajectory. Then, in combination with the game rules, a preliminary analysis and judgment is made on the game ball movement trajectory to initially determine whether the game ball movement trajectory conforms to the game specifications. When the game ball movement trajectory does not conform to the game specifications, the game ball is an abnormal ball. When the game ball movement trajectory conforms to the game specifications, it is further analyzed whether the game ball drops. When the game ball drops, it is analyzed whether the landing point of the game ball conforms to the game specifications in combination with the game rules. When the landing point of the game ball does not conform to the game specifications, the game ball is an abnormal ball.

2. The single-ball automatic positioning and swinging-back manipulator according to claim 1, wherein, The monitoring and acquisition module includes: a plurality of monitoring and acquisition units and a monitoring information integration unit; The monitoring and acquisition units are used to perform multi-directional monitoring on the billiards game to obtain a plurality of monitoring and acquisition segment information; The monitoring information integration unit is used to integrate the monitoring and acquisition segment information to obtain game monitoring and acquisition information.

3. The single-ball automatic positioning and swinging-back manipulator according to claim 1, wherein 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 billiards game and import the game rules; The single-ball tracking unit is used to identify and obtain the identification characteristics of the game balls to obtain game ball characteristic information, and perform single-ball tracking on the game monitoring and acquisition information based on the game ball characteristic information to obtain game ball tracking information; The analysis and judgment unit is used to analyze the movement 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 manipulator according to claim 1, wherein When storing single-ball tracking information, the information storage module obtains the number of game balls, divides the information storage units into multiple storage sub-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 sub-units, determines the matching correspondence, and thus stores the single-ball tracking information based on the matching correspondence when obtaining the single-ball tracking information.

5. The single-ball automatic positioning and swinging-back manipulator according to claim 1, characterized in that, The installation and storage module includes: an identification control unit and a retracting and extending operation unit; The identification control unit is configured to obtain the single-ball identification judgment result obtained by the single-ball identification module, perform control analysis according to the single-ball identification judgment result, generate a swing-back robotic arm start signal when the single-ball identification judgment result is an abnormal ball, and generate a swing-back robotic arm retraction signal after the operation of the grasping module is completed; The retracting and extending operation unit is configured to start or retract the swing-back robotic arm from the storage and placement position according to the swing-back robotic arm start signal or the swing-back robotic arm retraction signal.

6. The single-ball automatic positioning and swinging-back manipulator according to claim 1, wherein The moving module includes: a first analysis unit, a second analysis unit, a third analysis unit, and a movement control unit; The first analysis unit is configured to determine a target analysis ball according to the single-ball identification judgment result, obtain the single-ball tracking information of the target analysis ball according to the target analysis ball, obtain the target single-ball tracking information, then analyze the final static position after the target analysis ball drops in the target single-ball tracking information, and determine the target analysis ball position; The second analysis unit is configured to identify the target analysis ball, determine the game ball type of the target analysis ball in the billiards game, then analyze the target analysis ball position information in combination with the game rules according to the game ball type, and judge whether the target analysis ball is reasonable in the target analysis ball position, obtaining a first analysis judgment result; The third analysis unit is configured to perform swing-back robotic arm analysis according to the first analysis judgment result. When the target analysis ball is unreasonable in the target analysis ball position, analyze the operation posture of the swing-back robotic arm, determine the operation distance of the swing-back robotic arm, and determine the target operation position of the swing-back robotic arm by combining the target analysis ball position information with the operation distance of the swing-back robotic arm, obtaining a first target position. Then obtain the current position of the swing-back robotic arm, and perform a movement trajectory analysis according to the current position and the first target position of the swing-back robotic arm in combination with the movement track to determine the movement trajectory of the swing-back robotic arm; The movement control unit is configured to generate a swing-back robotic arm movement control instruction according to the movement trajectory of the swing-back robotic arm, and drive the swing-back robotic arm to move to the first target position based on the swing-back robotic arm movement control instruction.

7. The single-ball automatic positioning and pendulum-returning robotic arm according to claim 6, wherein The grasping module includes: an identification and analysis unit and a grasping and restoring unit. The identification and analysis unit is configured to perform ideal position analysis on the target analysis ball to determine the ideal position of the abnormal ball, obtaining a second target position. The grasping and restoring unit is configured to generate a grasping control instruction for the swing-back robotic arm, and grasp the abnormal ball through the swing-back robotic 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 manipulator according to claim 7, characterized in that, When determining the second target position, the recognition and analysis unit includes: obtaining the position of the target analysis ball and the type of the game ball of the target analysis ball in the billiards 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 position of the target analysis ball in combination with the type of the game ball. When the position of the target analysis ball is the ball collection box of the game balls in the billiards game, it is judged whether the target analysis ball is the cue ball according to the type of the game ball. 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 impact is determined according to the single-ball tracking information of the target analysis ball, and the position of the target analysis ball before the drop impact is used as the second target position. When the position of the target analysis ball is not the ball collection box of the game balls in the billiards game, it is judged whether the target analysis ball is the cue ball according to the type of the game ball. 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.

9. The single-ball automatic positioning and swinging-back manipulator according to claim 8, wherein, When the grasping and restoring unit generates a grasping control command for the swing-back robotic arm, grasps the abnormal ball through the swing-back robotic arm according to the grasping control command, and then places the abnormal ball at the second target position, it obtains the position of the target analysis ball and performs relative position analysis according to the position of the target analysis ball. When the position of the target analysis ball is in the ball collection box of the game balls in the billiards game, it analyzes the relative position of the target analysis ball in the ball collection box of the game balls in the billiards game to obtain the first relative position information, and then combines the first relative position information with the first target position to determine the telescopic control command of the swing-back robotic arm. When the position of the target analysis ball is not in the ball collection box of the game balls in the billiards game, it performs relative position analysis on the position of the target analysis ball and the first target position to obtain the second relative position information, and then determines the telescopic control command of the swing-back robotic arm according to the second relative position in combination with the first target position. Furthermore, after the grasping unit configures the grasping control command for the swing-back robotic arm, the telescopic control command is combined with the grasping control command to perform abnormal ball grasping on the swing-back robotic arm.

10. A billiard table, characterized in that, Including: A billiard table body and the single-ball automatic positioning and swing-back robotic arm according to any one of claims 1-9. Moving slide rails are installed around the billiard table body, and the single-ball automatic positioning and swing-back robotic arm is connected to the moving slide rails. And a storage and placement device is provided under the billiard table body for storing and placing the single-ball automatic positioning and swing-back robotic arm.

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