Mechanical arm for cleaning residual billiard balls on table top and billiard table with mechanical arm

Abstract

The invention provides a mechanical arm for cleaning residual billiard balls on a table top and a billiard table thereof, and the mechanical arm comprises an information importing unit for determining a billiard game and obtaining game rules; the image acquisition unit is used for performing image acquisition on a table top of the billiard game to obtain table top state information; the first analysis unit analyzes and judges whether the billiard game ends or not by combining the table top state information with game rules, and an analysis and judgment result is obtained; a second analysis unit obtains table top residual information according to the analysis and judgment result, performs table top residual billiard ball position analysis according to the table top residual information, and determines a target ball falling opening; and the operation adjustment unit performs operation adjustment analysis on the mechanical arm to obtain operation control information, and then the mechanical arm drives the residual billiard balls on the table top to the target ball falling opening according to the operation control information. When the billiard game is finished, table top cleaning can be conducted in time according to the residual state, convenience is provided for starting of the next billiard game, and meanwhile the experience feeling of players is improved.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, and in particular to a mechanical arm for cleaning residual billiard balls on a table and a billiard table thereof. Background Art

[0002] Billiards generally refers to a ball sport involving hitting white balls and other colored balls. It is a general term for a series of hitting sports, including various forms such as snooker, eight-ball, pool, billiard pushers, fancy pool, etc. In these different billiard games, players use cues and tables to compete with the goal of defeating opponents. However, at the end of a billiard game, there is often no one to clean up the endgame on the table, so that the billiard game must be started after the endgame is cleaned up at the beginning of the next game, which causes inconvenience to the players of the billiard game and affects the player experience. Therefore, the present invention proposes a mechanical arm for cleaning residual billiard balls on the table. The mechanical arm can be combined with billiards, so that at the end of the billiard game, the table can be cleaned up in time for the endgame, which provides convenience for the start of the next round of billiards game and improves the player experience. Summary of the invention

[0003] The object of the present invention is to provide a robotic arm for cleaning residual billiard balls on a table 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 mechanical arm for cleaning residual billiard balls on a table, comprising: an information importing unit, an image acquiring unit, a first analyzing unit, a second analyzing unit and an operation adjusting unit;

[0005] The information importing unit is used to determine a billiard game and obtain game rules according to the billiard game;

[0006] The image acquisition unit is used to acquire an image of the billiards game table to obtain table state information;

[0007] The first analysis unit is used to analyze the table state information in combination with the game rules to determine whether the billiard game is over and obtain an analysis and determination result;

[0008] The second analysis unit is used to obtain the table endgame information according to the analysis and judgment result, and analyze the position of the remaining billiard balls on the table according to the table endgame information to determine the target ball landing point;

[0009] The operation adjustment unit is used to perform operation adjustment analysis on the robotic arm based on the current position of the remaining billiard balls on the table and the target ball landing hole, obtain operation control information, and then the robotic arm drives the remaining billiard balls on the table to the target ball landing hole according to the operation control information.

[0010] Preferably, when obtaining the game rules according to the billiard game, the information importing unit obtains the billiard game theme, and matches the target game rules in the database according to the billiard game theme to obtain the game rule matching results, and then further analyzes according to the game rule matching results. When the target game rules do not exist in the game rule matching results, an online query is performed according to the billiard game theme to obtain the Internet online query results, and the target game rules are screened and determined in the Internet query results.

[0011] Preferably, the image acquisition unit acquires an image on a table for a billiard game, comprising:

[0012] Preliminarily determine the image acquisition area, and calibrate the image acquisition area in combination with the billiards game table to determine the image acquisition target area;

[0013] Performing start recognition on the target area of ​​the image acquisition to determine whether the billiard game has started and obtaining a recognition result;

[0014] When the recognition result is that the billiard game has started, the image is acquired in real time based on the image acquisition target area to obtain image acquisition information;

[0015] The current position information of the billiard ball is obtained according to the image acquisition information, and the position change of the billiard ball is analyzed in combination with the historical image acquisition information to obtain the billiard ball change information.

[0016] Preferably, when the first analysis unit analyzes the table state information in combination with the game rules, it includes:

[0017] Extract billiard ball change information from table state information;

[0018] Use the billiard ball change information to review the player's game operation, determine the player's game operation information, and obtain the player's game operation results;

[0019] The billiard game progress analysis is performed based on the player's game operation results in combination with the game rules and the player's game operation information to determine whether the billiard game is over and obtain an analysis and determination result.

[0020] Preferably, the operation adjustment unit comprises: an adjustment analysis unit, an operation execution unit and a host computer unit;

[0021] The adjustment and analysis unit is used to perform operation adjustment analysis on the robot arm based on the current position of the remaining billiard balls on the table and the target ball landing point, and to perform operation adjustment analysis on the robot arm according to the information of actively ending the endgame on the table, so as to obtain operation control information;

[0022] The operation execution unit is used to drive the remaining billiard balls on the table to the target ball landing hole by controlling and adjusting the mechanical arm according to the operation adjustment result;

[0023] The host computer unit is used to obtain the host computer control instruction for the player through the host computer device. When the player wants to actively end the current round of the billiard game, the player's active end control information for the current round of the billiard game is obtained, so that the active end control information is determined in the host computer device, and then the table end game information is obtained according to the active end control information to obtain the active end table end game information.

[0024] Preferably, the way in which the robotic arm cleans the residual billiard balls on the table includes: hitting, grabbing and sweeping; when the second analysis unit performs position analysis of the residual billiard balls on the table based on the endgame information on the table, it determines the way in which the robotic arm cleans the residual billiard balls on the table, establishes a plane reference coordinate system for the table, and obtains the ball landing port position information and the residual billiard balls position information on the table based on the plane reference coordinate system, and then determines the target ball landing port based on the ball landing port position information and the residual billiard balls position information on the table in combination with the way in which the robotic arm cleans the residual billiard balls on the table.

[0025] Preferably, when determining the way in which the robotic arm cleans the residual billiard balls on the table, a preliminary analysis is performed based on the residual information on the table to determine the location of the residual billiard balls on the table, and the distribution of the residual billiard balls on the table is obtained. The way in which the residual billiard balls on the table are removed is determined based on the distribution of the residual billiard balls on the table combined with the location of the ball landing port.

[0026] Preferably, when the operation adjustment unit performs operation adjustment analysis on the robotic arm based on the current position of the residual billiard balls on the table and the target ball landing point, the operation adjustment analysis is performed in combination with the way the robotic arm cleans the residual billiard balls on the table to determine the operation control information of the robotic arm; wherein the operation adjustment analysis includes: extension length and bending angle analysis, grip force analysis, and operation direction and applied force analysis.

[0027] Preferably, when analyzing the operation direction and applied force, it includes:

[0028] Analyze the relative position between the remaining billiard balls on the table and the target ball drop hole, and determine the ideal azimuth angle at which the remaining billiard balls on the table enter the ball drop hole;

[0029] Generate operation direction control information for the robot arm according to the ideal azimuth angle;

[0030] Obtain the distance between the remaining billiard balls on the table and the target ball drop hole to determine the target distance;

[0031] The target distance is combined with the table and the billiard ball to perform operation force analysis to obtain the robot arm operation force data;

[0032] The control information of the force applied by the robotic arm when striking is obtained according to the force applied by the robotic arm operation.

[0033] A billiard table comprises: a billiard table body and a mechanical arm as described above for cleaning residual billiard balls on the table surface, wherein the mechanical arm is slidably connected to the table surface of the billiard table body, and when a billiard game is finished, the mechanical arm is used to clean residual billiard balls on the table surface of the billiard table body.

[0034] The present invention combines a mechanical arm with a billiard game to clean the table of the billiard game, so that the table can be cleaned in time after the billiard game ends, which provides convenience for the start of the next round of billiard game, so that the players of the next round of billiard game can start directly, thereby improving the players' experience.

[0035] 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.

[0036] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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:

[0038] Figure 1 A schematic diagram of a unit of a mechanical arm for cleaning residual billiard balls on a table according to the present invention;

[0039] Figure 2 A schematic diagram of the steps of a mechanical arm for cleaning residual billiard balls on a table according to the present invention;

[0040] Figure 3 A schematic diagram of the steps of an image acquisition unit in a mechanical arm for cleaning residual billiard balls on a table according to the present invention;

[0041] Figure 4 This is a schematic diagram of the steps of a first analysis unit in a robotic arm for cleaning residual billiard balls on a table according to 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 mechanical arm for cleaning residual billiard balls on a table, comprising: an information importing unit, an image acquiring unit, a first analyzing unit, a second analyzing unit and an operation adjusting unit;

[0044] The information importing unit is used to determine a billiard game and obtain game rules according to the billiard game;

[0045] The image acquisition unit is used to acquire an image of the billiards game table to obtain table state information;

[0046] The first analysis unit is used to analyze the table state information in combination with the game rules to determine whether the billiard game is over and obtain an analysis and determination result;

[0047] The second analysis unit is used to obtain the table endgame information according to the analysis and judgment result, and analyze the position of the remaining billiard balls on the table according to the table endgame information to determine the target ball landing point;

[0048] The operation adjustment unit is used to perform operation adjustment analysis on the robotic arm based on the current position of the remaining billiard balls on the table and the target ball landing hole, obtain operation control information, and then the robotic arm drives the remaining billiard balls on the table to the target ball landing hole according to the operation control information.

[0049] In the above technical solution, when the robot arm for cleaning the residual billiard balls on the table is cleaning the residual billiard balls on the table, Figure 2 As shown, the following steps are included:

[0050] Step 1: determine the billiards game and obtain the game rules according to the billiards game;

[0051] Step 2: acquiring an image of the billiards game table to obtain table state information;

[0052] Step 3: Analyze the table status information in combination with the game rules to determine whether the billiard game is over and obtain the analysis and judgment result;

[0053] Step 4: Obtain the endgame information based on the analysis and judgment results, and analyze the position of the remaining billiard balls on the table based on the endgame information to determine the target ball drop point;

[0054] Step 5: Based on the current position of the remaining billiard balls on the table and the target ball landing point, the operation adjustment analysis is performed on the robotic arm to obtain the operation control information, and then the robotic arm drives the remaining billiard balls on the table to the target ball landing point according to the operation control information.

[0055] In the above technical solution, when acquiring images of the billiards game table, continuous image acquisition is performed.

[0056] In the above technical solution, when obtaining the table endgame information according to the analysis and judgment results, when the billiard game is over, the table endgame information is obtained, and when the billiard game is not over, there is no need to determine the table endgame information.

[0057] In the above technical solution, the target ball landing points can be multiple different ones or the same one, which is determined according to the position of the billiard ball.

[0058] In the above technical solution, when the second analysis unit obtains the table endgame information according to the analysis and judgment result, it retrieves the table state information in combination with the analysis and judgment result. When the analysis and judgment result is that the billiard game is over, the table state information is retrieved, and whether the remaining billiard balls on the table are stationary is analyzed according to the retrieved table state information to obtain the first analysis result. Then, the table endgame information is determined according to the first analysis result. When the first analysis result is that the remaining billiard balls on the table are stationary, the table state information at the current moment is retrieved to obtain the table endgame information. When the first analysis result is that the remaining billiard balls on the table are not stationary, the table state information is continuously obtained to analyze whether the remaining billiard balls on the table are stationary, and the table state information when the remaining billiard balls on the table are stationary is used as the table endgame information. Among them, when retrieving the table state information in combination with the analysis and judgment result, if the analysis and judgment result is that the remaining billiard balls on the table are not over, there is no need to retrieve the table state information.

[0059] The above technical solution combines the robotic arm with the billiard game to clean the table of the billiard game, so that the table can be cleaned in time after the billiard game ends, which provides convenience for the start of the next round of billiards game, so that the players of the next round of billiards game can start directly, thereby improving the players' experience. The information import unit obtains the game rules according to the billiard game, so that different billiard games can be analyzed and judged in combination with the corresponding game rules, avoiding confusion in judgment when the first analysis unit obtains the analysis and judgment results, and improving the accuracy of the analysis and judgment results. In addition, the second analysis unit analyzes the position of the billiards according to the table endgame information to determine the target ball landing point, so that the operation adjustment unit can clean the table faster, and the second analysis unit will only determine the table endgame information when the analysis and judgment result is that the billiard game is over. When determining the table endgame information, the second analysis unit also combines whether the remaining billiard balls on the table are stationary for analysis, avoiding confusion before determining the table endgame situation. The remaining billiard balls on the table are still moving in the background, resulting in deviations in the table endgame information, which ensures the accuracy of the table endgame information and provides a guarantee for the subsequent analysis of the positions of the remaining billiard balls on the table. In addition, the operation adjustment unit makes operation adjustments based on the current positions of the remaining billiard balls on the table and the target ball landing port, and drives the remaining billiard balls on the table to the target ball landing port through the robotic arm according to the operation adjustment results, thereby realizing the operation of the robotic arm, so that the table can be automatically cleaned without human participation. Not only is the cleaning efficiency high, but it can also provide timely guarantees for the next round of the billiard game, so that players do not need to clean up the endgame of the previous round before playing the billiard game, thereby improving the overall experience of the players.

[0060] In one embodiment provided by the present invention, when the information importing unit obtains the game rules according to the billiard game, it obtains the billiard game theme, and matches the target game rules in the database according to the billiard game theme to obtain the game rule matching results, and then further analyzes according to the game rule matching results. When the target game rules do not exist in the game rule matching results, an online query is performed according to the billiard game theme to obtain the Internet online query results, and the target game rules are screened and determined in the Internet query results.

[0061] In the above technical solution, when there are target game rules in the game rule matching results, the target game rules that match the billiard game theme are the game rules of the billiard game.

[0062] In the above technical solution, when an online search is performed based on the billiard game theme, a search is performed on billiard sports websites or forums on the Internet for the billiard game theme, such as the snooker official website, the Chinese Billiards Association, etc.

[0063] In the above technical solution, when the target game rules are screened and determined in the Internet query results, effective information is screened for the Internet query results, so that the game rules are extracted from the Internet query results to obtain the target game rules.

[0064] The above technical solution obtains the game rules according to the billiard game for analysis and judgment, so that the robotic arm for cleaning the residual billiard balls on the table can perform different game rule analysis and judgment for different billiard games, thereby improving the scope of application of the robotic arm for cleaning the residual billiard balls on the table.

[0065] like Figure 3 As shown, in one embodiment provided by the present invention, the image acquisition unit acquires an image of a billiards game table, including:

[0066] A1. Preliminarily determine the image acquisition area, and calibrate the image acquisition area in combination with the billiards table to determine the image acquisition target area;

[0067] A2. Performing game start recognition on the target area of ​​the image acquisition to determine whether the billiard game has started, and obtaining a recognition result;

[0068] A3. When the recognition result is that the billiard game has started, the image is acquired in real time based on the image acquisition target area to obtain image acquisition information;

[0069] A4. Obtain the current position information of the billiard ball according to the image acquisition information, and analyze the position change of the billiard ball in combination with the historical image acquisition information to obtain the billiard ball change information.

[0070] In the above technical solution, the table status information includes: billiard ball change information and billiard ball current position information.

[0071] In the above technical solution, when the recognition result is that the billiard game has not started, there is no need to acquire the image in real time, and only the start recognition needs to be continued for the image acquisition target area.

[0072] In the above technical solution, when the image acquisition area is corrected in combination with the billiard game table, it is analyzed whether the image acquisition area includes the billiard game table. When the image acquisition area includes the billiard game table, the integrity of the billiard game table in the image acquisition area is further analyzed, and then the image acquisition area is adjusted based on the integrity analysis result, so that the image acquisition area completely includes the billiard game table, and then the image acquisition target area is determined.

[0073] The above technical solution corrects the image acquisition area by combining the billiard game table, so that the image acquisition area completely includes the billiard game table, ensuring the integrity of the table state information, thereby providing more comprehensive data for subsequent analysis and judgment, and improving the accuracy of the analysis and judgment results. In addition, by performing start recognition on the image acquisition target area, real-time image acquisition is performed based on the image acquisition target area only when the recognition and judgment result is the start of the billiard game, thereby reducing invalid information in the image acquisition information, thereby avoiding the waste of time and resources caused by invalid information when analyzing the image acquisition information, and improving the efficiency of analyzing the table state information in combination with the game rules. In addition, by analyzing the position change of the billiard ball in combination with the historical image acquisition information, not only the current position of the billiard ball on the table can be clarified, but also the change of the ball after the start of the billiard game can be understood.

[0074] like Figure 4 As shown, in one embodiment provided by the present invention, when the first analysis unit analyzes the table state information in combination with the game rules, it includes:

[0075] B1, extracting billiard ball change information from table state information;

[0076] B2. Use the billiard ball change information to review the player's game operation, determine the player's game operation information, and obtain the player's game operation results;

[0077] B3. Perform a billiard game progress analysis based on the player's game operation results in combination with the game rules and the player's game operation information, determine whether the billiard game is over, and obtain an analysis and determination result.

[0078] In the above technical solution, the result of the player's game operation is the position information of the billiard ball when the billiard ball recovers stability after moving on the table based on the player's game operation.

[0079] In the above technical solution, when the billiard change information is used to review the player's game operation, the source of the billiard operation is reviewed according to the billiard change information, so as to determine the game operation that causes the billiard change and obtain the player's game operation information.

[0080] In the above technical scheme, when the progress analysis of the billiard game is performed on the player's game operation results in combination with the game rules and the player's game operation information, a first progress analysis is performed in the game rules according to the player's game operation results, and a preliminary analysis is performed based on the player's game operation results to determine whether the billiard game is over, and a preliminary analysis and determination result is obtained. According to the preliminary analysis and determination result, when the preliminary analysis and determination result is that the billiard game is not over, the billiard game continues; when the preliminary analysis and determination result is that the billiard game is over, the game rules are combined to further analyze and determine whether the player's game operation information complies with the game rules. When the player's game operation information complies with the game rules, the billiard game ends, otherwise the billiard game continues.

[0081] The above technical solution determines the analysis and judgment results according to the table state information, so as to clarify whether the billiard game is over. In addition, by using the billiard change information to review the player's game operation to understand how the player operates, the player's game operation information is obtained, and then when judging whether the billiard game is over, whether the player's game operation complies with the game rules can be considered, thereby improving the accuracy of the analysis and judgment results and avoiding the illusion that the game is over due to player operations that do not comply with the game rules.

[0082] In one embodiment provided by the present invention, the operation adjustment unit includes: an adjustment analysis unit, an operation execution unit and a host computer unit;

[0083] The adjustment and analysis unit is used to perform operation adjustment analysis on the robot arm based on the current position of the remaining billiard balls on the table and the target ball landing point, and to perform operation adjustment analysis on the robot arm according to the information of actively ending the endgame on the table, so as to obtain operation control information;

[0084] The operation execution unit is used to drive the remaining billiard balls on the table to the target ball landing hole by controlling and adjusting the mechanical arm according to the operation adjustment result;

[0085] The host computer unit is used to obtain the host computer control instruction for the player through the host computer device. When the player wants to actively end the current round of the billiard game, the player's active end control information for the current round of the billiard game is obtained, so that the active end control information is determined in the host computer device, and then the table end game information is obtained according to the active end control information to obtain the active end table end game information.

[0086] In the above technical solution, the adjustment and analysis unit is connected to the operation execution unit and the host computer unit respectively.

[0087] In the above technical solution, the adjustment analysis unit performs operation adjustment analysis on the robotic arm based on the current position of the remaining billiard balls on the table and the target ball landing hole to obtain operation control information, and then the operation execution unit controls and adjusts the robotic arm according to the operation adjustment result to drive the remaining billiard balls on the table to the target ball landing hole.

[0088] In the above technical solution, the host computer unit obtains the host computer control instruction for the player through the host computer device. When the player wants to actively end the current round of the billiard game, the active end control information of the player for the current round of the billiard game is obtained, so that the active end control information is determined in the host computer device, and then the table endgame information is obtained according to the active end control information to obtain the active end table endgame information. Then, the adjustment and analysis unit performs operation adjustment and analysis on the robotic arm according to the active end table endgame information to obtain the operation control information. Then, the operation execution unit controls the adjustment robotic arm according to the operation adjustment result to drive the remaining billiard balls on the table to the target ball landing port.

[0089] In the above technical scheme, after obtaining the table endgame information according to the active end control information, the position of the remaining billiard balls on the table is analyzed according to the table endgame information to determine the target ball landing hole; then, operation adjustments are made based on the current position of the remaining billiard balls on the table and the target ball landing hole, and the remaining billiard balls on the table are driven to the target ball landing hole by the robotic arm according to the operation adjustment results.

[0090] In the above technical solution, the active end control information refers to the desire to end the current game round when the current game round has not yet ended according to the game rules of the billiards game.

[0091] The above technical solution uses the upper computer to determine the player's active end of control information, so that when the player does not want to continue the current game, the remaining billiard balls on the table can be cleaned up by the robotic arm, which expands the application conditions of the robotic arm. It can not only clean up the remaining billiard balls on the table when the game is ended according to the game rules, but also clean up the remaining billiard balls on the table when the player does not want to continue the current game, providing more convenience for the players.

[0092] In one embodiment provided by the present invention, the method for the robotic arm to clean the residual billiard balls on the table includes: hitting, grabbing and sweeping; when the second analysis unit performs position analysis of the residual billiard balls on the table based on the endgame information on the table, it determines the method for the robotic arm to clean the residual billiard balls on the table, establishes a plane reference coordinate system for the table, and obtains the ball landing port position information and the residual billiard balls position information on the table based on the plane reference coordinate system, and then determines the target ball landing port according to the ball landing port position information and the residual billiard balls position information on the table in combination with the method for the robotic arm to clean the residual billiard balls on the table.

[0093] In the above technical scheme, when obtaining the position information of the residual billiard balls on the table based on the plane reference coordinate system, the position information of the residual billiard balls on the table is obtained from the endgame information of the table, and then, based on the plane reference coordinate system, the position information of the residual billiard balls on the table is standardized, and it is analyzed whether the position information of the residual billiard balls on the table is the coordinate information under the plane reference coordinate system. If the position information of the residual billiard balls on the table is the coordinate information under the plane reference coordinate system, no standard processing is required, and the position information of the residual billiard balls on the table is the standardized position information of the residual billiard balls on the table. If the position information of the residual billiard balls on the table is not the coordinate information under the plane reference coordinate system, the position information of the residual billiard balls on the table is standardized, and the position information of the residual billiard balls on the table is converted into the coordinate information under the plane reference coordinate system to obtain the standardized position information of the residual billiard balls on the table.

[0094] In the above technical solution, the robot arm can not only clean the remaining billiard balls on the table by hitting, but also clean the remaining billiard balls on the table by grabbing or sweeping.

[0095] In the above technical solution, when the robot arm cleans the residual billiard balls on the table by sweeping, the residual billiard balls on the table within the preset range of the ball drop hole are analyzed according to the ball drop hole position information and the residual billiard balls on the table, and the ball drop hole is used as the target ball drop hole for the residual billiard balls on the table within the preset range;

[0096] When the robot arm cleans the residual billiard balls on the table by grabbing them, the distance between the residual billiard balls on the table and the ball drop hole is calculated based on the ball drop hole position information and the residual billiard balls on the table, and the distance between the residual billiard balls on the table and the ball drop hole is obtained; the residual billiard balls on the table are screened according to the distance between them and the ball drop hole, and the ball drop hole corresponding to the minimum distance is used as the target ball drop hole for the residual billiard balls on the table;

[0097] When the robot arm cleans the residual billiard balls on the table by hitting them, it is analyzed whether there is a cleaning association between the residual billiard balls on the table according to the ball landing hole position information and the position information of the residual billiard balls on the table; when there is a cleaning association between the residual billiard balls on the table, the residual billiard balls on the table with a cleaning association are combined to obtain a residual billiard ball combination; then, the distance between the residual billiard balls on the table without a cleaning association and the ball landing hole is analyzed according to the ball landing hole position information and the position information of the residual billiard balls on the table; the ball landing hole corresponding to the minimum distance is used as the target ball landing hole; at the same time, a hitting analysis is performed on the residual billiard ball combination to determine the path of the residual billiard balls in the residual billiard ball combination, thereby determining the target ball landing hole for the residual billiard balls on the table in the residual billiard ball combination in combination with the path of the residual billiard balls in the residual billiard ball combination.

[0098] In the above technical solution, the cleaning association relationship refers to that when the remaining billiard balls on the table are struck and cleaned to the target ball landing hole, another remaining billiard ball on the table is hit, causing both remaining billiard balls on the table to enter the ball landing hole.

[0099] In the above technical solution, the preset range of the ball drop hole refers to an area within a preset radius or length and width range centered on the ball drop hole on the table.

[0100] In the above technical solution, when the distance between the remaining billiard balls on the table and the ball drop hole is analyzed and calculated based on the ball drop hole position information and the position information of the remaining billiard balls on the table, the distance data between the remaining billiard balls on the table and each ball drop hole is calculated for each remaining billiard ball on the table.

[0101] In the above technical solution, when screening is performed according to the distance between the remaining billiard balls on the table and the ball landing hole, the analyzed distance data of the remaining billiard balls on the same table are compared and screened.

[0102] The above technical scheme improves the flexibility of the robot arm by cleaning the residual billiard balls on the table in various ways, and by establishing a plane reference coordinate system for the table, it enables a more intuitive analysis in the form of coordinate data, providing convenience for the position analysis of the residual billiard balls on the table, and, when obtaining the position information of the residual billiard balls on the table based on the plane reference coordinate system, the position information of the residual billiard balls on the table is obtained from the endgame information of the table, and then the residual billiard balls on the table are standardized based on the plane reference coordinate system, so that the standardized position information of the residual billiard balls on the table and the ball landing position information for analysis and calculation have unified dimensions, avoiding direct analysis and calculation with inconsistent dimensions, and ensuring the accuracy of the analysis distance data.

[0103] In one embodiment provided by the present invention, when determining the method for a robotic arm to clean the residual billiard balls on the table, a preliminary analysis is performed based on the residual information on the table to determine the location of the residual billiard balls on the table, and the distribution of the residual billiard balls on the table is obtained. The method for clearing the residual billiard balls on the table is determined based on the distribution of the residual billiard balls on the table and the location of the ball landing port.

[0104] In the above technical scheme, the method of removing the residual billiard balls on the table is determined according to the distribution of the residual billiard balls on the table and the position of the ball drop hole. If the residual billiard balls on the table are concentrated together, they are cleaned by sweeping. If there is an obvious hitting route between the distribution of the residual billiard balls on the table and the ball drop hole, they are cleaned by hitting. If the residual billiard balls on the table are scattered at the edge of the billiard table, they are cleaned by grabbing.

[0105] The above technical solution determines the cleaning method of the residual billiard balls on the table according to the distribution of the residual billiard balls on the table and the position of the ball drop hole, so that the residual billiard balls on different tables can be cleaned better, thereby improving the cleaning efficiency of the residual billiard balls on the table.

[0106] In an embodiment provided by the present invention, when the operation adjustment unit performs operation adjustment analysis on the robotic arm based on the current position of the residual billiard balls on the table and the target ball landing point, the operation adjustment analysis is performed in combination with the way the robotic arm cleans the residual billiard balls on the table to determine the operation control information of the robotic arm; wherein the operation adjustment analysis includes: extension length and bending angle analysis, grip force analysis, and operation direction and applied force analysis.

[0107] In the above technical scheme, when the robot arm cleans the residual billiard balls on the table by sweeping, the extension length and bending angle of the robot arm are analyzed to determine the target extension length and target bending angle of the robot arm; when the robot arm cleans the residual billiard balls on the table by grasping, the gripping force of the robot arm is analyzed to determine the target gripping force of the robot arm; when the robot arm cleans the residual billiard balls on the table by hitting, the operation direction and applied force of the robot arm when hitting are analyzed to determine the target operation direction and target applied force of the robot arm, thereby determining the operation control information of the robot arm according to the target extension length and target bending angle or the target gripping force or the target operation direction and target applied force.

[0108] In the above technical scheme, when the operation adjustment unit performs operation adjustment analysis on the robotic arm based on the current position of the residual billiard balls on the table and the target ball landing hole, it also performs a summary analysis of the target ball landing holes for the residual billiard balls on the table, obtains the number of residual billiard balls on the table at the same target ball landing hole, and obtains the statistical number of residual billiard balls on the table at the target ball landing hole. Then, a cleaning sequence analysis is performed according to the statistical number of residual billiard balls on the table at the target ball landing hole. When the statistical number of residual billiard balls on the table at the target ball landing hole is 1, the operation adjustment is directly performed on the residual billiard balls on the table based on the target ball landing hole. When the statistical number of residual billiard balls on the table at the target ball landing hole is 2 or more, the target ball landing hole is used as the center of the center to obtain the residual billiard balls on the table based on the same target ball landing hole to obtain the associated residual billiard balls on the table. Then, for the associated residual billiard balls on the table, a cleaning sequence of the associated residual billiard balls on the table is determined according to the distance between the residual billiard balls on the table and the target ball landing hole, so that the residual billiard balls on the table are cleaned in sequence according to the cleaning sequence of the associated residual billiard balls on the table using the robotic arm. Among them, when determining the cleaning sequence of the associated table residual billiard balls according to the distance between the associated table residual billiard balls and the target ball landing hole, the distance between the table residual billiard balls and the target ball landing hole is arranged from small to large to determine the distance size sequence, thereby forming an associated table residual billiard ball cleaning sequence for the corresponding associated table residual billiard balls according to the distance size sequence.

[0109] The above technical solution combines the operation adjustment analysis with the way the robot arm cleans the residual billiard balls on the table, so that different aspects of the operation adjustment analysis can be performed for different ways of cleaning the residual billiard balls on the table by the robot arm, so that the robot arm can be operated and controlled according to the way the robot arm cleans the residual billiard balls on the table, and then the robot arm can better clean the residual billiard balls on the table to the target ball landing hole. In addition, by summarizing and analyzing the target ball landing holes for the residual billiard balls on the table, when two or more statistical residual billiard balls on the table appear in the same target ball landing hole, the residual billiard balls on the table can be cleaned in sequence according to the associated residual billiard balls cleaning sequence, so as to avoid the robot arm accidentally touching other residual billiard balls on the table when cleaning the residual billiard balls on the table, thereby affecting the cleaning of other residual billiard balls on the table, improving the effectiveness of cleaning the residual billiard balls on the table, and ensuring the cleaning efficiency of the residual billiard balls on the table.

[0110] In one embodiment provided by the present invention, when analyzing the operation direction and applied force, the following steps are included:

[0111] Analyze the relative position between the remaining billiard balls on the table and the target ball drop hole, and determine the ideal azimuth angle at which the remaining billiard balls on the table enter the ball drop hole;

[0112] Generate operation direction control information for the robot arm according to the ideal azimuth angle;

[0113] Obtain the distance between the remaining billiard balls on the table and the target ball drop hole to determine the target distance;

[0114] The target distance is combined with the table and the billiard ball to perform operation force analysis to obtain the robot arm operation force data;

[0115] The control information of the force applied by the robotic arm when striking is obtained according to the force applied by the robotic arm operation.

[0116] In the above technical solution, when the target distance is combined with the table and the billiard ball for operating force analysis, the target distance is combined with the weight of the billiard ball and the influence of the table on the movement of the billiard ball to perform operating force analysis on the billiard ball movement, so as to determine the force that the robotic arm needs to apply to the billiard ball when hitting the billiard ball and obtain the robotic arm operating force data.

[0117] The above technical scheme adjusts the operation direction so that the robot arm can enter the target ball landing hole in a specified direction when hitting the remaining billiard ball on the table to the target ball landing hole. At the same time, it adjusts the operation force so that the robot arm can apply force to the remaining billiard ball on the table based on the robot arm operation force data, so that the remaining billiard ball on the table can move with the help of the force applied by the robot arm and enter the target ball landing hole, thereby avoiding the robot arm operating the remaining billiard ball on the table so that the remaining billiard ball on the table moves again on the table and causes secondary chaos on the table, thereby improving the effect of cleaning the remaining billiard ball on the table and efficiently realizing the cleaning of the remaining billiard ball on the table.

[0118] An embodiment of the present invention provides a billiard table, comprising: a billiard table body and a robotic arm for cleaning residual billiard balls on the table surface according to any of the above embodiments, wherein the robotic arm is slidably connected to the table surface of the billiard table body, and when a billiard game is over, the robotic arm is used to clean residual billiard balls on the table surface of the billiard table body.

[0119] The above technical solution combines the robotic arm for cleaning the residual billiard balls on the table with the billiard table body, so that during the billiard game, the robotic arm can be used to clean the residual billiard balls on the table in the billiard table body, and then the table can be cleaned in time after the billiard game ends, which provides convenience for the start of the next round of billiards game, allowing the players of the next round of billiards game to start directly, thereby improving the players' experience.

[0120] Those skilled in the art should understand that the first and second in the present invention merely refer to different application stages.

[0121] 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.

[0122] 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 robotic arm for cleaning residual billiard balls on a table, characterized in that: The robot arm comprises: an information importing unit, an image acquiring unit, a first analyzing unit, a second analyzing unit and an operation adjusting unit; The information importing unit is used to determine a billiard game and obtain game rules according to the billiard game; The image acquisition unit is used to acquire an image of the billiards game table to obtain table state information; The first analysis unit is used to analyze the table state information in combination with the game rules to determine whether the billiard game is over and obtain an analysis and determination result; The second analysis unit is used to obtain the endgame information of the table according to the analysis and judgment result, and analyze the position of the remaining billiard balls on the table according to the endgame information of the table to determine the target ball landing point; The operation adjustment unit is used to perform operation adjustment analysis on the robotic arm based on the current position of the remaining billiard balls on the table and the target ball landing hole, obtain operation control information, and then the robotic arm drives the remaining billiard balls on the table to the target ball landing hole according to the operation control information.

2. The robotic arm according to claim 1, characterized in that: When obtaining the game rules according to the billiard game, the information importing unit obtains the billiard game theme, and matches the target game rules in the database according to the billiard game theme to obtain the game rule matching results, and then further analyzes according to the game rule matching results. When the target game rules do not exist in the game rule matching results, an online query is performed according to the billiard game theme to obtain the Internet online query results, and the target game rules are screened and determined in the Internet query results.

3. The robotic arm according to claim 1, characterized in that: The image acquisition unit acquires an image on the table of the billiard game, including: Preliminarily determine the image acquisition area, and calibrate the image acquisition area in combination with the billiards game table to determine the image acquisition target area; Performing start recognition on the target area of ​​the image acquisition to determine whether the billiard game has started and obtaining a recognition result; When the recognition result is that the billiard game has started, the image is acquired in real time based on the image acquisition target area to obtain image acquisition information; The current position information of the billiard ball is obtained according to the image acquisition information, and the position change of the billiard ball is analyzed in combination with the historical image acquisition information to obtain the billiard ball change information.

4. The robotic arm according to claim 3, characterized in that: When the first analysis unit analyzes the table state information in combination with the game rules, it includes: Extract billiard ball change information from table state information; Use the billiard ball change information to review the player's game operation, determine the player's game operation information, and obtain the player's game operation results; The progress of the billiard game is analyzed according to the game rules and the game operation information of the player, and it is determined whether the billiard game is over to obtain the analysis and judgment result.

5. The robotic arm according to claim 1, characterized in that: The operation adjustment unit comprises: an adjustment analysis unit, an operation execution unit and a host computer unit; The adjustment and analysis unit is used to perform operation adjustment analysis on the robot arm based on the current position of the remaining billiard balls on the table and the target ball landing point, and to perform operation adjustment analysis on the robot arm according to the information of actively ending the endgame on the table, so as to obtain operation control information; The operation execution unit is used to drive the remaining billiard balls on the table to the target ball landing hole by controlling and adjusting the mechanical arm according to the operation adjustment result; The host computer unit is used to obtain the host computer control instruction for the player through the host computer device. When the player wants to actively end the current round of the billiard game, the player's active end control information for the current round of the billiard game is obtained, so that the active end control information is determined in the host computer device, and then the table end game information is obtained according to the active end control information to obtain the active end table end game information.

6. The robotic arm according to claim 1, characterized in that: The ways in which the robotic arm cleans the residual billiard balls on the table include: hitting, grabbing and sweeping; when the second analysis unit performs position analysis of the residual billiard balls on the table based on the endgame information on the table, it determines the way in which the robotic arm cleans the residual billiard balls on the table, establishes a plane reference coordinate system for the table, and obtains the ball landing port position information and the residual billiard balls position information on the table based on the plane reference coordinate system, and then determines the target ball landing port based on the ball landing port position information and the residual billiard balls position information on the table in combination with the way in which the robotic arm cleans the residual billiard balls on the table.

7. The robotic arm according to claim 6, characterized in that: When determining the method for the robotic arm to clean the remaining billiard balls on the table, a preliminary analysis is performed based on the residual information on the table to determine the location of the remaining billiard balls on the table and obtain the distribution of the remaining billiard balls on the table. The method for removing the remaining billiard balls on the table is determined based on the distribution of the remaining billiard balls on the table and the location of the ball drop port.

8. The robotic arm according to claim 6, characterized in that: When the operation adjustment unit performs operation adjustment analysis on the robotic arm based on the current position of the residual billiard balls on the table and the target ball landing point, the operation adjustment analysis is performed in combination with the way the robotic arm cleans the residual billiard balls on the table to determine the operation control information of the robotic arm; wherein the operation adjustment analysis includes: extension length and bending angle analysis, grip force analysis, and operation direction and applied force analysis.

9. The robot arm according to claim 8, characterized in that: When analyzing the operation direction and applied force, include: Analyze the relative position between the remaining billiard balls on the table and the target ball drop hole, and determine the ideal azimuth angle at which the remaining billiard balls on the table enter the ball drop hole; Generate operation direction control information for the robot arm according to the ideal azimuth angle; Obtain the distance between the remaining billiard balls on the table and the target ball drop hole to determine the target distance; The target distance is combined with the table and the billiard ball to perform operation force analysis to obtain the robot arm operation force data; The control information of the force applied by the robotic arm when striking is obtained according to the force applied by the robotic arm operation.

10. A billiard table, characterized in that: include: A billiard table body and a robotic arm for cleaning residual billiard balls on the table surface as claimed in any one of claims 1 to 9, wherein the robotic arm is slidably connected to the table surface of the billiard table body, and when a billiard game is over, the robotic arm is used to clean residual billiard balls on the table surface of the billiard table body.

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