Three-dimensional positioning method and system for intelligent entity mahjong

Abstract

The invention discloses a three-dimensional positioning method and system for intelligent entity mahjong, and relates to the technical field of mahjong recognition. The three-dimensional positioning method for the intelligent entity mahjong comprises the following steps: monitoring the conveying influence degree of a conveying belt; monitoring the conveying accuracy of the conveying channel; and monitoring the positioning accuracy of the three-dimensional image. According to the method, the conveying influence degree of the conveying belt is evaluated to judge whether conveying position deviation optimization is carried out or not, then after the conveying influence degree of the conveying belt is evaluated to be qualified, conveying channel conveying accuracy evaluation is carried out to judge whether three-dimensional image positioning accuracy evaluation is carried out or not, and finally if three-dimensional image positioning accuracy evaluation is carried out, the three-dimensional image positioning accuracy evaluation is carried out. If yes, whether mahjong positioning precision optimization is carried out or not is judged, otherwise, an alarm prompt is sent, the effect of improving the three-dimensional positioning accuracy of the intelligent entity mahjong in the conveying groove is achieved, and the problem that in the prior art, due to uneven tension of the mahjong conveying belt, the three-dimensional positioning accuracy of the intelligent entity mahjong in the conveying groove is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mahjong recognition, and in particular to a three-dimensional positioning method and system for intelligent entity mahjong. Background Art

[0002] With the rapid development of artificial intelligence, image recognition, automatic control, and network communication technologies, traditional automatic mahjong is gradually evolving into a more advanced "intelligent physical mahjong" system. Compared to traditional mahjong machines that only perform basic functions such as shuffling, sorting, and dealing, intelligent physical mahjong systems integrate multiple advanced technologies, including high-precision spatial positioning, image recognition, remote operation, human-computer interaction, behavioral analysis, and AI (artificial intelligence) game analysis. They are widely used in scenarios such as high-end competitive events, intelligent teaching systems, cloud-based game platforms, and mahjong AI training systems. The three-dimensional position and spatial posture (X / Y / Z position and rotation angle) of each mahjong tile must be accurately acquired and stably controlled to support the system's digital modeling and visualization of physical behaviors such as card grabbing, card playing, and ping-kong operations, as well as to support the precise grasping of mahjong tiles by robotic arms in remote mahjong systems. The mechanical structure of the intelligent mahjong system includes: a shuffling area, a conveyor belt, a conveyor trough, a card pusher, an image recognition system, and a main control system. The shuffling area is located on the left side of the lower layer of the system and is used to achieve card mixing and shuffling distribution. The conveyor belt is the central transmission structure, connecting the shuffling area and the conveyor trough, and is used to accurately transmit mahjong tiles to the predetermined position. The conveyor trough is located at the end of the transmission, adjacent to the card pusher, and receives mahjong tiles for stacking, and needs to be aligned and centered. The card pusher is located in the horizontal moving unit and is responsible for stacking. It is used to push the mahjong tiles to the designated area to form an array. The image recognition system is installed above or on the side of the conveyor trough to collect card images and obtain spatial positions. The main control system is located in the system logic center and is used to control the operation of the entire machine and perform collected card image processing and feedback compensation.

[0003] In the process of transporting the mahjong tiles from the shuffling area to the conveying trough and finally stacking them into a neat array by the pushing mechanism, in a remote multi-player card playing scenario, the player can initiate a shuffling command through a mobile phone application or a computer client. The command is transmitted to the main control system of the mahjong machine through the network. After receiving the command, the main control system starts the stirring device in the shuffling area; after the mahjong tiles are placed in the shuffling area, the stirring device in the shuffling area starts to work. The stirring device is usually composed of multiple rotatable blades or stirring rods, which rotate according to a preset program to fully stir the mahjong tiles and randomize the direction of the card faces to ensure the uniformity and randomness of the shuffling; after the stirring is completed, the distributing device in the shuffling area starts to work. The distributing device will push the stirred mahjong tiles out of the shuffling area one by one in a certain order and quantity. The distributing device is usually composed of one or more pushing mechanisms and guide rails. The feeding mechanism pushes the mahjong tiles along the guide rails onto the conveyor belt. The main control system monitors the operating status of the distribution device through sensors, such as the position and pushing force of the pushing mechanism. This information is transmitted to remote players in real time through the network, so that players can understand the distribution progress. After the mahjong tiles are distributed from the shuffling area to the conveyor belt, the conveyor belt starts to run at the set speed and direction. After the conveyor belt transports the mahjong tiles to the entrance of the conveying trough, the receiving device in the conveying trough starts to work. The receiving device usually consists of one or more receiving troughs, each of which can accommodate a mahjong tile. When the mahjong tiles reach the receiving trough, the conveyor belt will stop running, and the mahjong tiles enter the receiving trough under the action of inertia. The size and shape of the receiving trough match the mahjong tiles, which can ensure that the tiles can be stably placed in the trough. After the mahjong tiles enter the receiving trough, the alignment device in the conveying trough starts to work. The alignment mechanism can be implemented in a variety of ways, such as mechanical pushers, pneumatic devices, or electromagnetic devices. These devices adjust the mahjong tiles within the receiving trough, aligning and centering them within the trough. An image recognition system, mounted above or to the side of the conveyor trough, begins operating once the tiles enter and are aligned and centered. The image recognition system uses a high-resolution camera to capture the tiles, and the captured image data is transmitted via a data cable to the main control system. Upon receiving the image data, the main control system uses image processing algorithms to analyze the image, identifying the tile patterns and numbers, and transmits the image and data to the remote player. Based on the tile position and tile information provided by the image recognition system, the main control system calculates the designated area to which the tile pusher should push the tiles. The main control system then sends action commands to the tile pusher, including parameters such as push direction, distance, and speed. Upon receiving the commands, the tile pusher begins preparing to stack the tiles.

[0004] When existing conventional mahjong machines implement the above-mentioned intelligent mahjong function, since the existing conveyor belt is mainly limited by the limit devices on both sides of the conveyor belt, this process mainly relies on photoelectric sensors to determine the position. When the mahjong tiles in the receiving slot accumulate to a certain number, the card pushing device will be triggered. The card pushing plate will push the mahjong tiles in the receiving slot neatly to the designated card output area, completing the card pushing action.

[0005] However, in the process of implementing the technical solutions of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems: In the existing technology, in smart physical mahjong, the conveyor belt serves as the core transmission component, responsible for accurately transporting the mahjong tiles to the designated conveyor trough area. After the tiles are transported to the conveyor trough, they are stacked by a tile pusher. This process requires three-dimensional spatial coordinate positioning of each mahjong tile to ensure that the tile stack forms a neatly arranged geometric array in space.

[0006] When a shuffling command is initiated remotely and transmitted to the main control system of the mahjong machine through the network, if the mahjong conveyor belt is loose, it may cause uneven tension on the mahjong conveyor belt, which in turn causes the position of the cards to shift during the process of rotation and delivery to the conveyor trough, resulting in a spatial deviation between the image coordinate system collected during three-dimensional positioning and the mechanical coordinate system. There is a problem of low three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough due to the uneven tension of the mahjong conveyor belt. Summary of the Invention

[0007] The embodiments of the present application provide a three-dimensional positioning method and system for intelligent physical mahjong, thereby solving the problem in the prior art of low three-dimensional positioning accuracy of intelligent physical mahjong in a conveyor trough due to uneven tension of a mahjong conveyor belt, and achieving an improvement in the effectiveness of three-dimensional image positioning accuracy assessment.

[0008] An embodiment of the present application provides a three-dimensional positioning method for intelligent physical mahjong, comprising the following steps: during the process of conveying the physical mahjong to the conveying trough, an assessment is performed on the conveying influence of the conveyor belt to determine whether to perform conveying position offset optimization, and the conveying position offset optimization means reducing the influence of uneven conveyor belt tension on the conveying accuracy of the physical mahjong by conveyor belt speed correction and conveyor belt speed feedback; after the assessment of the conveying influence of the conveyor belt is qualified, an assessment is performed on the conveying accuracy of the conveying channel to determine whether to perform a three-dimensional image positioning accuracy assessment; if a three-dimensional image positioning accuracy assessment is performed, whether to perform mahjong positioning accuracy optimization is determined based on the three-dimensional image positioning accuracy assessment result, otherwise an alarm is sent to a preset person, and the mahjong positioning accuracy optimization means improving the three-dimensional positioning accuracy of the physical mahjong in the conveying trough by positioning accuracy optimization and positioning image processing optimization.

[0009] An embodiment of the present application provides a three-dimensional positioning system for intelligent physical mahjong, which is applied as a three-dimensional positioning method for intelligent physical mahjong, including a conveyor belt conveying influence degree monitoring module, a conveying channel conveying accuracy monitoring module and a three-dimensional image positioning accuracy monitoring module: wherein the conveyor belt conveying influence degree monitoring module is used to evaluate the conveyor belt conveying influence degree during the process of conveying the physical mahjong to the conveying trough to determine whether to perform conveying position offset optimization; the conveying channel conveying accuracy monitoring module is used to evaluate the conveying channel conveying accuracy after the conveyor belt conveying influence degree evaluation is qualified to determine whether to perform three-dimensional image positioning accuracy evaluation; the three-dimensional image positioning accuracy monitoring module is used to determine whether to optimize mahjong positioning accuracy based on the three-dimensional image positioning accuracy evaluation result if a three-dimensional image positioning accuracy evaluation is performed, otherwise send an alarm prompt to a preset person.

[0010] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By evaluating the conveying impact of the conveyor belt to determine whether to optimize the conveying position offset, it is helpful for remote players to view the operating status of the conveyor belt and the conveying status of mahjong tiles in real time, so that players can understand the real-time information of the conveying process. After the conveyor belt conveying impact assessment is qualified, the conveying channel conveying accuracy assessment is performed to determine whether to perform a three-dimensional image positioning accuracy assessment. This helps remote players to view the images and sensor data in the conveying channel in real time through the client and understand the conveying status of mahjong tiles. Finally, if the three-dimensional image positioning accuracy assessment is performed, it is determined whether to optimize the mahjong positioning accuracy. Otherwise, an alarm is sent to the preset personnel, which helps remote players to monitor the operating status of the conveying channel in real time and reduce remote monitoring interruptions caused by conveying channel problems, thereby achieving an improvement in the effectiveness of the three-dimensional image positioning accuracy assessment, and then achieving an improvement in the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough, effectively solving the problem in the existing technology of low three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough due to uneven tension of the mahjong conveyor belt.

[0011] 2. By coupling the accurate data of the mahjong transport position offset as the transport position offset accuracy observation value, judging whether to perform a three-dimensional image positioning accuracy assessment based on the transport position offset accuracy observation value, and transmitting the transport position offset observation value and the three-dimensional image positioning accuracy assessment result to the client in real time, it helps remote players to understand the mahjong transport operation status at any time, thereby achieving an improvement in the reliability of the transport channel transport accuracy assessment, and further achieving an improvement in the qualification of the three-dimensional image positioning accuracy assessment.

[0012] 3. By first providing accurate feedback on three-dimensional image positioning, then compensating for the pusher rod drive accuracy, and finally adjusting the pusher motor speed during the mahjong push process with an amplitude corresponding to the pusher motor speed adjustment amount, it helps to provide accurate three-dimensional image positioning information to remote players, improve mahjong operation efficiency and remote monitoring accuracy, thereby achieving an improvement in positioning accuracy optimization reliability, and further achieving an improvement in positioning accuracy optimization accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A flowchart of a three-dimensional positioning method for intelligent physical mahjong provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a three-dimensional positioning system for intelligent physical mahjong provided in an embodiment of the present application; Figure 3 This is a schematic diagram of the overall logic of the three-dimensional positioning method for intelligent physical mahjong provided in an embodiment of the present application; Figure 4 A basic logical framework diagram of a three-dimensional positioning method for intelligent physical mahjong is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0014] The embodiments of the present application provide a three-dimensional positioning method and system for intelligent physical mahjong, which solves the problem in the prior art of low three-dimensional positioning accuracy of intelligent physical mahjong in the conveyor trough due to uneven tension of the mahjong conveyor belt. The method evaluates the conveying influence of the conveyor belt during the process of conveying the physical mahjong to the conveyor trough to determine whether to optimize the conveying position offset. After the conveying influence of the conveyor belt is evaluated to be qualified, the conveying accuracy of the conveying channel is evaluated to determine whether to evaluate the three-dimensional image positioning accuracy. Finally, if the three-dimensional image positioning accuracy is evaluated, it is determined whether to optimize the mahjong positioning accuracy based on the three-dimensional image positioning accuracy evaluation result. Otherwise, an alarm is sent to a preset person, thereby improving the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough.

[0015] The technical solution in the embodiment of the present application is to solve the problem of low three-dimensional positioning accuracy of intelligent physical mahjong in the conveyor trough due to uneven tension of the mahjong conveyor belt. The overall idea is as follows: By evaluating the impact of conveying on the conveying belt, it is determined whether to optimize the conveying position offset. Then, after the assessment of the impact of conveying on the conveying belt is qualified, the conveying accuracy of the conveying channel is evaluated to determine whether to evaluate the accuracy of three-dimensional image positioning. Finally, if the three-dimensional image positioning accuracy is evaluated, it is determined whether to optimize the positioning accuracy of the mahjong. Otherwise, an alarm is sent to the preset personnel, thereby achieving the effect of improving the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough.

[0016] The three-dimensional positioning system for intelligent physical mahjong provided in the embodiment of the present application is also equipped with automatic adjustment equipment, such as an intelligent card pushing head motor controller, an intelligent position controller, an intelligent speed controller, etc., which can be used to realize remote control of physical mahjong in a remote multi-person card playing scenario. For example, the automatic adjustment equipment can adjust the speed and force of shuffling according to the player's preferences, or automatically adjust the speed of the conveyor belt and the accuracy of the alignment device according to the material and size of the mahjong tiles, thereby reducing the frequency and time of on-site maintenance and realizing the availability of intelligent physical mahjong.

[0017] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0018] like Figure 1 As shown, it is a flow chart of the three-dimensional positioning method for intelligent entity mahjong provided by an embodiment of the present application, and the method includes the following steps: conveyor belt conveying influence degree monitoring: in the process of conveying entity mahjong to the conveying trough, the conveyor belt conveying influence degree is evaluated to determine whether to optimize the conveying position offset, and the conveying position offset optimization means reducing the influence of uneven conveyor belt tension on the conveying accuracy of entity mahjong by conveyor belt speed correction and conveyor belt speed feedback; conveying channel conveying accuracy monitoring: after the conveyor belt conveying influence degree evaluation is qualified, that is, the uniform value of the conveyor belt tension is within the preset conveyor belt loosening influence range, the conveying channel conveying accuracy evaluation is performed to determine whether to perform three-dimensional image positioning accuracy evaluation, and the conveying channel conveying accuracy evaluation is used to evaluate the entity mahjong The conveying accuracy in the conveying channel, the three-dimensional image positioning accuracy assessment is used to reflect the accuracy of mahjong image positioning based on the three-dimensional positioning method; three-dimensional image positioning accuracy monitoring: if a three-dimensional image positioning accuracy assessment is performed, it is determined whether to optimize the mahjong positioning accuracy based on the three-dimensional image positioning accuracy assessment result, otherwise an alarm is sent to the preset personnel. Mahjong positioning accuracy optimization means improving the three-dimensional positioning accuracy of the physical mahjong in the conveying trough through positioning accuracy optimization and positioning image processing optimization; during the player's remote monitoring process, the conveyor belt conveying impact degree monitoring can be used to view the conveyor belt's operating status and the conveying status of mahjong tiles in real time on the computer client, which is conducive to improving the accuracy and real-time performance of the conveying process monitoring information transmitted to remote players through the network.

[0019] like Figure 21. The diagram of the structure of the three-dimensional positioning system for intelligent physical mahjong provided in an embodiment of the present application is applied as a three-dimensional positioning method for intelligent physical mahjong, including a conveyor belt conveying influence degree monitoring module, a conveying channel conveying accuracy monitoring module and a three-dimensional image positioning accuracy monitoring module: wherein the conveyor belt conveying influence degree monitoring module is used to evaluate the conveyor belt conveying influence degree during the process of conveying the physical mahjong to the conveying trough to determine whether to perform conveying position offset optimization; the conveying channel conveying accuracy monitoring module is used to evaluate the conveying channel conveying accuracy after the conveyor belt conveying influence degree evaluation is qualified to determine whether to perform three-dimensional image positioning accuracy evaluation; the three-dimensional image positioning accuracy monitoring module is used to determine whether to optimize mahjong positioning accuracy based on the three-dimensional image positioning accuracy evaluation result if a three-dimensional image positioning accuracy evaluation is performed, otherwise send an alarm prompt to a preset person.

[0020] In this embodiment, if Figure 3 As shown, it is a general logic diagram of the three-dimensional positioning method for intelligent physical mahjong provided by the embodiment of the present application, which is composed of Figure 3 It can be seen that: the uniform value of the conveyor belt tension is obtained by monitoring the conveying influence degree of the conveyor belt, and the conveying position offset optimization is performed when the uniform value of the conveyor belt tension is not within the preset conveyor belt loosening influence range. The conveying position offset optimization includes conveyor belt speed correction and conveyor belt speed feedback; when the uniform value of the conveyor belt tension is within the preset conveyor belt loosening influence range, the conveying position offset accuracy observation value is obtained by monitoring the conveying accuracy of the conveying channel, and when the monitored conveying position offset accuracy observation value is not greater than the preset mahjong conveying position offset value, an alarm is sent to the preset personnel; judgment is made through three-dimensional image positioning accuracy monitoring, and when the conveying position offset accuracy observation value is greater than the preset mahjong conveying position offset value, a three-dimensional image positioning accuracy observation value is further obtained, and when the monitored three-dimensional image positioning accuracy observation value is not greater than the preset mahjong positioning qualified value, mahjong positioning accuracy optimization is performed, and mahjong positioning accuracy optimization includes positioning accuracy optimization and positioning image processing optimization. When the three-dimensional image positioning accuracy observation value is greater than the preset mahjong positioning qualified value, the corresponding mahjong code card data is transmitted to the preset driving device to perform the card pushing operation.

[0021] like Figure 4 As shown in the figure, it is a basic logical framework diagram of the three-dimensional positioning method for intelligent entity mahjong provided in the embodiment of the present application, which consists of Figure 4It can be seen that: by evaluating the conveying influence of the conveyor belt, the uniform value of the conveyor belt tension is obtained. If the conveyor belt conveying influence degree evaluation is qualified, the conveying accuracy evaluation of the conveying channel is performed to obtain the conveying position offset accuracy observation value, otherwise the conveying position offset is optimized; when the conveying position offset accuracy observation value is not greater than the preset mahjong conveying position offset value, an alarm is sent to the preset personnel, otherwise the three-dimensional image positioning accuracy evaluation is performed and the three-dimensional image positioning accurate observation value is obtained. When the three-dimensional image positioning accurate observation value is greater than the preset mahjong positioning qualified value, the card pushing operation is performed, otherwise the mahjong positioning accuracy is optimized.

[0022] Monitoring the conveying impact of the conveyor belt can help to achieve real-time evaluation and optimization of the conveyor belt's operating status, and reduce conveying deviations caused by uneven tension; monitoring the conveying accuracy of the conveying channel can help provide an accurate basis for three-dimensional positioning, ensuring efficient operation of the conveying link; monitoring the accuracy of three-dimensional image positioning can help improve the three-dimensional positioning accuracy of mahjong images; through the interaction of monitoring the conveying impact of the conveyor belt, monitoring the conveying accuracy of the conveying channel and monitoring the accuracy of three-dimensional image positioning, it can help to achieve precise control from the conveyor belt to pushing the cards; thereby achieving an improvement in the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough; for example, remote players can monitor and adjust the operating status of the mahjong machine in real time through the client, and players can manually adjust the conveyor belt speed according to their own personalized style and rhythm; remote monitoring can help to promptly discover and handle faults in the mahjong operation process, and reduce downtime caused by faults.

[0023] Furthermore, an assessment of the degree of conveying influence of the conveyor belt is performed to determine whether to optimize the conveying position offset, and the specific process is as follows: obtaining the uniform value of the conveyor belt tension; monitoring the maximum radial pressure and the minimum radial pressure of the preset transmission section of the conveyor belt in a preset time period through a pressure sensor, and using the difference as the uniform value of the conveyor belt tension; making a judgment based on the obtained uniform value of the conveyor belt tension and the preset conveyor belt loosening influence range, wherein the preset conveyor belt loosening influence range is set in advance by a preset personnel, and the preset conveyor belt loosening influence range includes the endpoints of the upper and lower limits corresponding to the range; if the uniform value of the conveyor belt tension is within the preset conveyor belt loosening influence range, a conveyor belt influence qualification prompt is sent, and the conveying channel offset accuracy assessment is performed; if the uniform value of the conveyor belt tension is not within the preset conveyor belt loosening influence range, the conveying position offset is optimized; the conveyor belt conveying influence degree assessment is used to assess the degree of interference of uneven conveyor belt tension on the accuracy of physical mahjong delivery.

[0024] Specifically, the specific process of optimizing the conveying position offset is as follows: the first step is to correct the conveyor belt speed: the uniform value of the conveyor belt tension and the conveyor belt load are input into the database for correction to obtain the preset mahjong conveyor belt speed adjustment ratio, the average value of the load pressure monitored by the pressure sensor at the preset point of the conveyor belt is used as the conveyor belt load, and the preset mahjong conveyor belt speed adjustment ratio is compared with the preset maximum conveying speed adjustment ratio: if the preset mahjong conveyor belt speed adjustment ratio is greater than the preset maximum conveying speed adjustment ratio, a conveying abnormality alarm is sent, otherwise the corresponding preset mahjong conveyor belt speed adjustment ratio is marked as a qualified speed adjustment ratio; The second step is to provide feedback on the conveyor belt speed: a prompt is sent to the preset personnel to gradually reduce the conveying speed of the mahjong conveyor belt by the amplitude corresponding to the qualified speed adjustment ratio; if the uniform value of the conveyor belt tension regained after the conveying position offset optimization is within the preset conveyor belt loosening influence range, a conveying position offset optimization qualified prompt is sent to evaluate the accuracy of the conveying channel offset; if the conveying speed of the conveyor belt is reduced to the preset minimum conveying speed, the uniform value of the conveyor belt tension is still not within the preset conveyor belt loosening influence range, and a conveying position offset optimization abnormal alarm prompt is sent, wherein the preset minimum conveying speed and the preset maximum conveying speed adjustment ratio are set in advance by the preset personnel.

[0025] It should be added that before the design of the three-dimensional positioning method for intelligent physical mahjong provided in this application, a database for storing various setting data is established. The database includes but is not limited to preset qualified mahjong conveyor belt tension uniformity value, preset rotation angle deviation and preset conveying time deviation, etc., and the various values ​​are directly set by technical personnel; the database also includes a conveyor belt speed correction set, which is used to reflect the correction relationship between the conveyor belt tension uniformity value and the conveyor belt load and the corresponding preset mahjong conveyor belt speed adjustment ratio.

[0026] In this embodiment, by controlling the uniform value of the conveyor belt tension within the preset conveyor belt looseness influence range, it helps to ensure the stable operation of the conveyor belt, reduce the conveying deviation caused by uneven tension, and improve the accuracy and reliability of the physical mahjong conveying; by gradually reducing the conveying speed of the mahjong conveyor belt by the amplitude corresponding to the qualified speed adjustment ratio, it helps to achieve precise control of the conveying speed and improve the conveying quality; by inputting the uniform value of the conveyor belt tension and the conveyor belt load into the conveyor belt speed correction set in the database for correction, it helps to dynamically adjust the conveying speed so that the conveyor belt can maintain the best operating state under different load and tension conditions; thereby achieving the improvement of the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough.

[0027] Furthermore, an assessment of the conveying accuracy of the conveying channel is performed to determine whether a three-dimensional image positioning accuracy assessment is performed. The specific process is as follows: SS1, by quantifying the degree of approach between the preset qualified conveyor belt tension uniformity value and the qualified conveyor belt tension uniformity value, and performing a weighted operation with the preset tension uniformity control index as the tension uniformity and offset accuracy value, which is used to reflect the effect of the qualified conveyor belt tension uniformity value on the accuracy of the intelligent entity mahjong being transported to the conveyor trough, wherein the quantification of the degree of approach in this application means performing a ratio operation; the qualified conveyor belt tension uniformity value is represented by the conveyor belt tension uniformity value within the preset conveyor belt looseness influence range; specifically, the expression of the tension uniformity and offset accuracy value is , , Q represents the number of the preset delivery time period, M represents the total number of preset delivery time periods, Indicates the exact value of tension uniformity and deviation during the Qth preset conveying time period. Indicates the average tension value of the qualified conveyor belt in the Qth preset conveying time period, Indicates the preset qualified conveyor belt tension uniform value, Indicates the preset tension uniformity control index, It represents a preset first constant, which represents a constant within a preset delivery time period and is used to prevent the preset mahjong delivery position deviation accurate parameter from being greater than 0.

[0028] SS2, by quantifying the degree of convergence of the preset rotation angle deviation and the rotation angle deviation, and performing weighted calculation with the preset angle deviation control index as the angle deviation and offset accurate value, it is used to reflect the effect of the rotation angle deviation on the accuracy of the intelligent physical mahjong being delivered to the conveying trough; specifically, the expression of the angle deviation and offset accurate value is: , Indicates the exact value of the angle deviation and offset of the Qth preset conveying time period, Indicates the rotation angle deviation of the Qth preset conveying time period, Indicates the preset rotation angle deviation, It represents the preset angle deviation control index. The units of the preset rotation angle deviation and the rotation angle deviation are both degrees. The average value of the relative offset angle between the center line of the mahjong in each conveying channel and the center line of the preset conveying channel during the preset conveying time period is monitored by an industrial camera as the rotation angle deviation.

[0029] SS3, after quantifying the degree of convergence between the preset delivery time deviation and the delivery time deviation, performs a weighted operation with the preset time deviation control index as the time deviation and offset accuracy value, which is used to reflect the effect of the delivery time deviation on the accuracy of the delivery of mahjong to the delivery trough; specifically, the expression of the time deviation and offset accuracy value is: , Indicates the time deviation and offset accurate value of the Qth preset delivery time period, Indicates the delivery time deviation of the Qth preset delivery time period, Indicates the preset delivery time deviation, It represents the preset time deviation control index. The units of the preset delivery time deviation and the delivery time deviation are both in milliseconds. The timer monitors the preset delivery time period, and the difference between the average value of the total time for the mahjong to pass through each delivery channel to reach the delivery slot and the preset delivery time is used as the delivery time deviation.

[0030] SS4, by coupling processing the accurate data of mahjong delivery position offset, as the delivery position offset accuracy observation value, is used to reflect the effect of the accurate parameters of mahjong delivery position offset and the preset accurate parameters of mahjong delivery position offset on the accuracy of the delivery of intelligent physical mahjong to the delivery trough.

[0031] The observed value of the conveying position offset accuracy is obtained by the following method: ; Where, It represents the observed value of the delivery position deviation accuracy during the Qth preset delivery time period.

[0032] Specifically, the accurate data of mahjong conveying position offset include the accurate values ​​of tension uniformity and offset, angle deviation and offset, and time deviation and offset; the accurate parameters of mahjong conveying position offset include the qualified conveyor belt tension uniformity, rotation angle deviation, and conveying time deviation; the preset mahjong conveying position offset accurate parameters include the preset qualified conveyor belt tension uniformity, preset rotation angle deviation, and preset conveying time deviation; the preset conveying time period represents the preset time period in the process of the mahjong conveyor belt conveying mahjong to the conveying trough, and the preset mahjong conveying position offset accurate parameters are represented by the average value of the mahjong conveying position offset accurate parameters of the historical time period.

[0033] It should be explained that the embodiment of the present application provides a mapping group for reflecting the mapping relationship between the accurate parameters of the mahjong transport position offset and the corresponding preset transport position offset control data. The mapping group is obtained from the database and contains a mapping set, wherein the mapping relationship in the mapping set can be a one-to-one correspondence or a many-to-one relationship, and the preset transport position offset control data is represented by the proportion of the corresponding mahjong transport position offset accurate parameters. Through the preset mapping relationship set in advance by the preset personnel, the mahjong transport position offset accurate parameters and the preset transport position offset control data are matched one-to-one or many-to-one to obtain a mapping group; by inputting the real-time mahjong transport position offset accurate parameters into the corresponding mapping group, the corresponding preset transport position offset control data can be obtained; the preset transport position offset control data includes: a preset tension uniformity control index, a preset angle deviation control index and a preset time deviation control index, and its value range is 0-1.

[0034] It should be added that a comparison is made between the transport position offset accuracy observation value and the preset transport position offset value obtained from the database; if the obtained transport position offset accuracy observation value is greater than the preset transport position offset value, a three-dimensional image positioning accuracy assessment is performed; otherwise, the three-dimensional image positioning accuracy assessment is not performed, and an alarm is sent to the preset personnel, wherein the preset transport position offset value is represented by the average value of the transport position offset accuracy observation value of the historical time period.

[0035] In this embodiment, the accuracy of mahjong delivery position offset is quantified using the mahjong delivery position offset accuracy data to further obtain an observed value for delivery position offset accuracy. A larger value for the mahjong delivery position offset accuracy data indicates a greater impact of the uniform tension of the qualified conveyor belt on the accuracy of delivery of the intelligent physical mahjong to the conveyor trough, a greater impact of the rotation angle deviation on the accuracy of delivery of the intelligent physical mahjong to the conveyor trough, and a greater impact of the delivery time deviation on the accuracy of delivery of the intelligent physical mahjong to the conveyor trough, leading to a larger observed value for delivery position offset accuracy. In summary, in this embodiment, the accurate mahjong delivery position offset data and the observed value for delivery position offset accuracy are positively correlated.

[0036] The mahjong conveying position deviation accuracy parameters monitored in this embodiment do not exist in isolation, but have interrelated characteristics, requiring correlation analysis to describe their joint effects. The smaller the uniform tension value of the qualified mahjong conveyor belt, that is, the greater the uniform tension and deviation accuracy value, the more smoothly the mahjong can move on the conveyor belt, reducing the shaking and deviation of the mahjong caused by the uneven tension of the conveyor belt, thereby helping the mahjong centerline to be closer to the centerline of the preset conveying channel, and thus resulting in a smaller rotation angle deviation, that is, a larger angle deviation and deviation accuracy value; the smaller the uniform tension value of the qualified mahjong conveyor belt, means that the mahjong passes through each conveying channel at a relatively stable speed, which helps to reduce the conveying time, and thus may lead to a smaller conveying time deviation, that is, a larger time deviation and deviation accuracy value; the larger the rotation angle deviation, the greater the possibility of the mahjong colliding and rubbing with the conveying channel wall during the conveying process, hindering the mahjong conveying, and thus resulting in a larger conveying time deviation. By analyzing the comprehensive influence of the parameters, a precise assessment of the accuracy of the mahjong delivery to the conveying trough is achieved, thereby achieving the effect of improving the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveying trough.

[0037] Furthermore, based on the three-dimensional image positioning accuracy evaluation results, it is determined whether to optimize the mahjong positioning accuracy. The specific process is as follows: the qualified conveying position offset accuracy observation value and the preset conveying position offset control index are weighted to obtain the conveying position offset-positioning accuracy value, which is used to reflect the effect of the qualified conveying position offset accuracy observation value on the accuracy of the three-dimensional positioning of the intelligent entity mahjong in the conveyor trough; the qualified conveying position offset accuracy observation value is represented by a conveying position offset accuracy observation value that is greater than the preset mahjong conveying position offset value; specifically, the expression of the conveying position offset-positioning accuracy value is: , , E represents the number of the preset positioning time period, H represents the total number of preset positioning time periods, Indicates the conveying position offset-positioning accuracy value of the E-th preset positioning time period, represents the observation value of qualified conveying position deviation accuracy in the E-th preset positioning time period, Indicates the preset conveying position offset control index.

[0038] After quantifying the degree of convergence between the preset horizontal coordinate deviation of the mahjong feature point and the horizontal coordinate deviation of the mahjong feature point, a weighted operation is performed with the preset horizontal coordinate deviation control index to obtain the horizontal coordinate deviation-positioning accuracy value, which is used to reflect the effect of the horizontal coordinate deviation of the mahjong feature point on the accuracy of the three-dimensional positioning of the intelligent entity mahjong in the conveyor trough; specifically, the expression of the horizontal coordinate deviation-positioning accuracy value is: , Indicates the horizontal coordinate deviation of the E-th preset positioning time period - positioning accuracy value, Indicates the horizontal coordinate deviation of the Mahjong feature point in the E-th preset positioning time period, Indicates the horizontal coordinate deviation of the preset mahjong feature point, Represents a preset second constant, which represents a constant within a preset positioning time period, and is used to prevent the preset mahjong three-dimensional image positioning accuracy parameter from being greater than 0. It represents the preset horizontal coordinate deviation control index. The units of the preset mahjong feature point horizontal coordinate deviation and the mahjong feature point horizontal coordinate deviation are both pixels. Through the preset three-dimensional reconstruction software, such as Agisoft Metashape, the horizontal coordinate of the preset mahjong feature point in the preset rectangular coordinate system during the preset positioning time period is monitored, and the average value corresponding to the absolute value of the difference between it and the preset horizontal coordinate is used as the horizontal coordinate deviation of the mahjong feature point. The preset mahjong feature point is represented by the center point set in advance in the conveyor trough by the preset personnel based on the three-dimensional positioning method.

[0039] After quantifying the degree of convergence between the vertical coordinate deviation of the preset mahjong feature point and the vertical coordinate deviation of the mahjong feature point, a weighted operation is performed with the preset horizontal coordinate deviation control index to obtain the vertical coordinate deviation-positioning accuracy value, which is used to reflect the effect of the vertical coordinate deviation of the mahjong feature point on the accuracy of the three-dimensional positioning of the intelligent entity mahjong in the conveyor trough; specifically, the expression of the vertical coordinate deviation-positioning accuracy value is: , Indicates the vertical coordinate deviation of the E-th preset positioning time period - positioning accuracy value, Indicates the vertical coordinate deviation of the Mahjong feature point in the Eth preset positioning time period, Indicates the vertical coordinate deviation of the preset mahjong feature point, It represents the preset vertical coordinate deviation control index. The units of the preset mahjong feature point vertical coordinate deviation and the mahjong feature point vertical coordinate deviation are both pixels. The vertical coordinate of the preset mahjong feature point in the preset rectangular coordinate system is monitored by the preset three-dimensional reconstruction software during the preset positioning time period, and the average value corresponding to the absolute value of the difference between it and the preset vertical coordinate is used as the vertical coordinate deviation of the mahjong feature point.

[0040] The accurate data of mahjong three-dimensional image positioning is coupled and processed to obtain accurate observation values ​​of three-dimensional image positioning. The accurate observation values ​​of three-dimensional image positioning are used to reflect the effect of the accurate parameters of mahjong conveying position offset and the preset accurate parameters of mahjong conveying position offset on the accuracy of three-dimensional positioning of mahjong in the conveying trough.

[0041] Among them, the accurate observation value of 3D image positioning is obtained by the following method: ; Where, Indicates the accurate observation value of 3D image positioning in the E-th preset positioning time period.

[0042] It should be added that the mahjong three-dimensional image positioning accuracy data includes the conveying position offset-positioning accuracy value, the horizontal coordinate deviation-positioning accuracy value and the vertical coordinate deviation-positioning accuracy value; the preset mahjong three-dimensional image positioning accuracy control data includes the preset conveying position offset control index, the preset horizontal coordinate deviation control index and the preset vertical coordinate deviation control index, which is used to reflect the degree of influence of the mahjong conveying position offset accuracy data on the three-dimensional image positioning accuracy observation value; the mahjong three-dimensional image positioning accuracy parameters include the qualified conveying position offset accuracy observation value, the mahjong feature point horizontal coordinate deviation and the mahjong feature point vertical coordinate deviation; the preset mahjong three-dimensional image positioning accuracy parameters include the preset mahjong feature point horizontal coordinate deviation and the preset mahjong feature point vertical coordinate deviation, the preset positioning time period represents the preset time period corresponding to the three-dimensional image positioning accuracy evaluation, and the preset mahjong three-dimensional image positioning accuracy parameters are represented by the average value of the mahjong three-dimensional image positioning accuracy parameters of the historical time period.

[0043] It should be explained that the embodiment of the present application provides a mapping group obtained from a database and containing a mapping set. Through a preset mapping relationship set in advance by a preset personnel, the mahjong three-dimensional image positioning accurate data and the preset mahjong three-dimensional image positioning accurate control data are matched one-to-one or many-to-one to obtain a mapping group, which is used to reflect the mapping relationship between the mahjong three-dimensional image positioning accurate data and the corresponding preset mahjong three-dimensional image positioning accurate control data, and the mapping relationship can be a one-to-one correspondence or a many-to-one relationship; by inputting the real-time mahjong three-dimensional image positioning accurate data into the corresponding mapping group, the corresponding preset mahjong three-dimensional image positioning accurate control data can be obtained; the preset mahjong three-dimensional image positioning accurate control data is represented by the proportion of the corresponding mahjong three-dimensional image positioning accurate data, and the data includes a preset conveying position offset control index, a preset horizontal coordinate deviation control index and a preset vertical coordinate deviation control index, and its value range is 0-1.

[0044] In this embodiment, the accuracy of the three-dimensional positioning of the physical mahjong in the conveyor trough is quantified using the mahjong three-dimensional image positioning accuracy data to further obtain a three-dimensional image positioning accuracy observation value. The larger the mahjong three-dimensional image positioning accuracy data, the stronger the effect of the qualified conveying position offset accuracy observation value on the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveyor trough, the stronger the effect of the mahjong feature point horizontal coordinate deviation on the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveyor trough, and the stronger the effect of the mahjong feature point vertical coordinate deviation on the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveyor trough, which in turn leads to a larger three-dimensional image positioning accuracy observation value. In summary, in this embodiment, the mahjong three-dimensional image positioning accuracy data and the three-dimensional image positioning accuracy observation value are positively correlated.

[0045] The three-dimensional mahjong image positioning accuracy parameters monitored in this embodiment do not exist in isolation, but have interrelated characteristics, and require correlation analysis to describe their joint effects. The larger the observed value of the qualified conveying position offset accuracy, that is, the larger the conveying position offset-positioning accuracy value, means that the accuracy of the mahjong delivery to the conveying trough is higher, the mahjong is closer to the preset position, and the degree of deviation of the mahjong image feature points from the preset coordinates is more likely to decrease, which in turn leads to the smaller horizontal coordinate deviation of the mahjong feature points and the vertical coordinate deviation of the mahjong feature points, that is, the larger the horizontal coordinate deviation-positioning accuracy value and the vertical coordinate deviation-positioning accuracy value; the larger the horizontal coordinate deviation of the mahjong feature points, the more likely it is that the mahjong image will rotate, tilt, etc. during the positioning process, which in turn may lead to a larger vertical coordinate deviation of the mahjong feature points. By analyzing the comprehensive influence between the parameters, a precise evaluation of the accuracy of the three-dimensional positioning of the physical mahjong in the conveying trough is achieved, thereby achieving the effect of improving the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveying trough.

[0046] Furthermore, a comparison is made between the accurate observation value based on the three-dimensional image positioning and the preset mahjong positioning qualified value obtained from the database; if the accurate observation value of the three-dimensional image positioning is greater than the preset mahjong positioning qualified value, a three-dimensional positioning qualified prompt is sent, and the corresponding mahjong code card data is transmitted to the preset driving device to perform the card pushing operation; otherwise, a three-dimensional positioning unqualified prompt is sent, and the mahjong positioning accuracy is optimized.

[0047] Specifically, the mahjong positioning accuracy optimization includes positioning accuracy optimization and positioning image processing optimization; the specific process of positioning accuracy optimization is as follows: Step 1, perform three-dimensional image positioning accurate feedback, three-dimensional image positioning accurate feedback means that the corresponding mahjong conveying adjustment data when the three-dimensional image positioning accurate observation value is not greater than the preset mahjong positioning qualified value, such as conveying interval, conveyor belt vibration frequency, etc., are transmitted to the pushing head motor, wherein the preset mahjong positioning qualified value is represented by the average value of the three-dimensional image positioning accurate observation value of the historical time period; Step 2, perform pushing rod drive accuracy compensation, pushing rod drive accuracy compensation is used to compensate for the influence of inaccurate mahjong positioning in the conveying trough on the driving accuracy of the mahjong pushing rod; pushing rod drive accuracy compensation means performing pushing head motor speed feedback to obtain the pushing head motor speed adjustment amount; pushing head motor speed feedback means sending a prompt to the preset personnel to use the mahjong three-dimensional image positioning accurate deviation as The feedback signal of the PID (Proportional-Integral-Derivative) algorithm is used to output the speed adjustment amount of the card pushing head motor as a control signal to control the card pushing head motor; the accurate deviation of the mahjong three-dimensional image positioning is represented by the difference between the preset mahjong positioning qualified value and the accurate observation value of the three-dimensional image positioning; in step three, the speed of the card pushing head motor is adjusted, and the speed adjustment of the card pushing head motor indicates sending a prompt to the preset personnel to adjust the speed of the card pushing head motor during the pushing process of the mahjong card pushing head with an amplitude corresponding to the speed adjustment amount of the card pushing head motor; the speed adjustment of the card pushing head motor is used to reduce the position deviation of the card pushing rod during the pushing process, so as to improve the driving accuracy of the preset driving device, and the speed of the card pushing head motor is the speed of the card pushing motor; adjusting the speed of the card pushing head motor is used to indirectly control the acceleration of the card pushing rod, making it more stable during the pushing process, reducing shaking and errors.

[0048] It should be added that the mahjong card pushing device usually includes the following main components: The card receiving block is used to receive the mahjong tiles sent by the card feeding device; the card pushing head is used to push the mahjong tiles on the card receiving block to the horizontal pushing device; after the card receiving block receives the mahjong tiles sent by the card feeding device, the card pushing head starts to move forward through the card pushing transmission mechanism under the drive of the card pushing head motor, and the front end of the card pushing head contacts the edge of the mahjong tiles, pushing the mahjong tiles from the card receiving block to the card pushing board. When the card pushing head pushes the mahjong tiles from the card receiving block to the card pushing board, usually, the card pushing board will wait until there are enough mahjong tiles accumulated in the receiving slot (for example, one The number of tiles required to form a tile wall) is determined by the card pushing plate, which starts to carry the tiles and moves along the central guide rail through the card pushing transmission mechanism. After the card pushing plate pushes the tiles to the designated position on the table, it stops moving. At this time, the tiles are neatly arranged on the table for players to use; the card pushing head motor provides power and drives the movement of the card pushing head and the card receiving block through the transmission mechanism; the card pushing transmission mechanism includes a card pushing curved wheel, a lifting slider, a rocker rod and a card pushing swing arm, which are used to convert the power of the card pushing head motor into the horizontal swing of the card pushing head and the lifting movement of the card receiving block.

[0049] It should be added that positioning accuracy optimization also includes positioning accuracy optimization qualification verification, and the specific process is as follows: VV1, obtain the pushing position deviation of the card pushing rod, monitor the horizontal distance between the center line of the end state of the conveying trough and the center line parallel to the preset conveying trough through the industrial camera, and use its average value as the pushing position deviation of the card pushing rod; VV2, determine the pushing position deviation, and compare the pushing position deviation of the card pushing rod with the preset pushing position deviation obtained from the database; if the pushing position deviation of the card pushing rod is not greater than the preset pushing position deviation of the card pushing rod, send a pushing qualified prompt and a positioning accuracy optimization verification qualified prompt, otherwise send a pushing unqualified prompt, and feedback to the preset control center, the preset pushing position deviation of the card pushing rod is represented by the average value of the pushing position deviation of the card pushing rod in the historical time period.

[0050] In this embodiment, when a prompt for accurate three-dimensional image positioning is received, the corresponding mahjong conveying adjustment data when the three-dimensional image positioning accurate observation value is not greater than the preset mahjong positioning qualified value is transmitted to the pusher motor, which helps to ensure that the operating state of the conveyor belt meets the preset standard, reduce positioning inaccuracies caused by positioning deviations, and thus interfere with the pushing process of the pusher rod, and improve the stability and accuracy of three-dimensional positioning; by using the accurate deviation of the mahjong three-dimensional image positioning as the feedback signal of the PID algorithm, outputting the pusher motor speed adjustment amount as the control signal to control the pusher motor, it helps to achieve precise control of the pusher motor speed, dynamically compensate for the impact of inaccurate mahjong positioning in the conveyor trough on the driving accuracy of the pusher rod, and improve the level of automated control of the mahjong pushing process; when a prompt for adjusting the speed of the pusher motor is received, by adjusting the speed of the pusher motor by the amplitude corresponding to the pusher motor speed adjustment amount during the mahjong pushing process, it helps to reduce the position deviation of the pusher rod during the pushing process to ensure the accurate execution of the pushing action.

[0051] By monitoring the pushing position deviation of the push rod to verify the eligibility of the mahjong positioning accuracy optimization, it is beneficial to reduce the interference of the positioning deviation on the pushing process of the push rod; by controlling the pushing position deviation of the push rod to be no greater than the preset pushing position deviation of the push rod to send a pushing qualified prompt, it is beneficial to improve the operational reliability of the pushing link and ensure the overall stability of the mahjong transportation and the pushing process of the push rod; thereby achieving the improvement of the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveying trough.

[0052] Furthermore, the specific process of positioning image processing optimization is as follows: obtaining the mahjong image positioning delay value, the preset mahjong image positioning time and the actual mahjong image positioning time obtained from the database through the timer preset positioning time period, and the difference between them is used as the mahjong image positioning delay value; if the obtained mahjong image positioning delay value is not greater than 0, a mahjong image positioning delay unqualified prompt is sent, and the mahjong image positioning delay optimization is performed; if the obtained mahjong image positioning delay value is greater than 0, a mahjong image positioning delay qualified prompt is sent; mahjong image positioning delay optimization means reducing the delay degree of mahjong image positioning through multi-pixel edge detection and parallel processing.

[0053] Specifically, the specific process of mahjong image positioning delay optimization is as follows: BB1, performing multi-pixel edge detection, multi-pixel edge detection means sending prompts to preset personnel through preset operator units, such as Sobel operators, to detect a preset number of qualified pixels to improve the mahjong image positioning speed; the preset number of qualified pixels is represented by a preset number of pixels that is not greater than a preset maximum number of pixels; the preset number of pixels is obtained by inputting the mahjong image positioning delay value and the number of logical units into a database for mapping; the preset pixel number mapping set is used to reflect the mapping relationship between the mahjong image positioning delay value and the number of logical units and the corresponding preset number of pixels; BB2, performing parallel processing, parallel processing means sending prompts to preset personnel to parallelly process the mahjong image based on the parallel processing units to reduce the positioning delay of the mahjong image.

[0054] It should be added that the database contains a mapping set for reflecting the mapping relationship between the mahjong image positioning delay value and the number of logic units and the corresponding preset number of pixels; the preset mahjong image positioning time is represented by the average value of the actual mahjong image positioning time in the historical time period; and the number of logic units is represented by the number of parallel processing units available in the parallel processing process based on FPGA (Field Programmable Gate Array).

[0055] In this embodiment, by monitoring the mahjong image positioning delay value, the mahjong image positioning delay is optimized when it is monitored that the mahjong image positioning delay value is not greater than 0, which helps to timely discover the delay problem in the mahjong image positioning process and ensure the timeliness and accuracy of image positioning; when a prompt for multi-pixel edge detection is received, a preset number of qualified pixels is detected by a preset operator unit, which helps to improve the efficiency and accuracy of image edge detection, thereby improving the accuracy of locating key features of the mahjong image and accelerating the image positioning speed; when a prompt for parallel processing is received, the FPGA-based parallel processing unit processes the mahjong image in parallel, which helps to achieve efficient parallel computing of image processing and reduce the delay of image positioning; thereby achieving the improvement of the three-dimensional positioning accuracy of the intelligent entity mahjong in the conveyor trough.

[0056] In summary, the embodiment of the present application evaluates the degree of conveying influence of the conveying belt to determine whether to optimize the conveying position offset, and then, after the conveying influence degree evaluation of the conveying belt is qualified, performs a conveying accuracy evaluation of the conveying channel to determine whether to perform a three-dimensional image positioning accuracy evaluation. Finally, if a three-dimensional image positioning accuracy evaluation is performed, it is determined whether to optimize the mahjong positioning accuracy. Otherwise, an alarm is sent to the preset personnel, thereby achieving an improvement in the effectiveness of the three-dimensional image positioning accuracy evaluation, and then achieving an improvement in the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveying trough, effectively solving the problem in the prior art of low three-dimensional positioning accuracy of the intelligent physical mahjong in the conveying trough due to uneven tension of the mahjong conveyor belt.

[0057] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0058] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0059] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0061] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0062] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A three-dimensional positioning method for intelligent physical mahjong, characterized in that: The following steps are involved: During the process of conveying the physical mahjong pieces to the conveyor trough, the conveyor belt conveying influence degree is evaluated to determine whether to optimize the conveying position offset. The conveying position offset optimization means reducing the influence of uneven conveyor belt tension on the conveying accuracy of the physical mahjong pieces through conveyor belt speed correction and conveyor belt speed feedback; After the conveyor belt conveying impact assessment is qualified, the conveying channel conveying accuracy assessment is carried out to determine whether to conduct a three-dimensional image positioning accuracy assessment; If a three-dimensional image positioning accuracy assessment is performed, it is determined whether to optimize the mahjong positioning accuracy based on the three-dimensional image positioning accuracy assessment result. Otherwise, an alarm is sent to the preset personnel. The mahjong positioning accuracy optimization means improving the three-dimensional positioning accuracy of the physical mahjong in the conveying trough through positioning accuracy optimization and positioning image processing optimization.

2. The three-dimensional positioning method for intelligent physical mahjong according to claim 1, characterized in that: The conveyor belt conveying impact assessment is performed to determine whether to optimize the conveying position offset. The specific process is as follows: Make judgment based on the obtained conveyor belt tension uniformity value and the preset conveyor belt loosening influence range; If the uniform value of the conveyor belt tension is within the preset conveyor belt loosening influence range, a conveyor belt influence qualified prompt will be sent and the conveyor channel deviation accuracy will be evaluated; If the uniform value of the conveyor belt tension is not within the preset conveyor belt loosening influence range, optimize the conveyor position offset; The conveyor belt conveying influence degree assessment is used to assess the interference degree of the uneven tension of the conveyor belt on the conveying accuracy of the physical mahjong.

3. The three-dimensional positioning method for intelligent physical mahjong according to claim 2, characterized in that: The specific process of optimizing the conveying position offset is as follows: The first step is to correct the conveyor belt speed: the uniform value of the conveyor belt tension and the conveyor belt load are input into the database for correction to obtain the preset mahjong conveyor belt speed adjustment ratio. If the preset mahjong conveyor belt speed adjustment ratio is greater than the preset maximum conveying speed adjustment ratio, a conveying abnormality alarm is sent; otherwise, the corresponding preset mahjong conveyor belt speed adjustment ratio is marked as a qualified speed adjustment ratio. The second step is to provide feedback on the conveyor belt speed: a prompt is sent to the preset personnel to gradually reduce the conveying speed of the mahjong conveyor belt by the amplitude corresponding to the qualified speed adjustment ratio; If the uniform value of the conveyor belt tension obtained after the conveyor position offset optimization is within the preset conveyor belt loosening influence range, a conveyor position offset optimization qualification prompt is sent and the conveyor channel offset accuracy evaluation is performed; If the conveying speed of the conveyor belt is reduced to the preset minimum conveying speed, and the uniform value of the conveyor belt tension is still not within the preset conveyor belt looseness influence range, a conveyor position deviation optimization abnormality alarm will be sent.

4. The three-dimensional positioning method for intelligent physical mahjong according to claim 1, characterized in that: The delivery channel delivery accuracy assessment is performed to determine whether to perform a three-dimensional image positioning accuracy assessment. The specific process is as follows: SS1, by quantifying the degree of convergence between the preset qualified conveyor belt tension uniformity value and the qualified conveyor belt tension uniformity value, and performing weighted calculation with the preset tension uniformity control index as the tension uniformity and offset accuracy value, which is used to reflect the effect of the qualified conveyor belt tension uniformity value on the accuracy of the intelligent physical mahjong delivery to the conveyor trough; SS2, by quantifying the degree of convergence of the preset rotation angle deviation and the rotation angle deviation, and performing weighted calculation with the preset angle deviation control index as the angle deviation and offset accuracy value, which is used to reflect the effect of the rotation angle deviation on the accuracy of the intelligent physical mahjong being transported to the conveying trough; SS3, after quantifying the degree of convergence between the preset delivery time deviation and the delivery time deviation, performs a weighted operation with the preset time deviation control index as the time deviation and offset accuracy value, which is used to reflect the effect of the delivery time deviation on the accuracy of the delivery of mahjong to the delivery trough; SS4, by coupling the accurate data of mahjong delivery position offset, as the delivery position offset accuracy observation value, used to reflect the effect of the accurate parameters of mahjong delivery position offset and the preset accurate parameters of mahjong delivery position offset on the accuracy of the delivery of intelligent physical mahjong to the delivery trough; SS5: If the obtained transport position offset accuracy observation value is greater than the preset transport position offset value, a three-dimensional image positioning accuracy assessment is performed; otherwise, the three-dimensional image positioning accuracy assessment is not performed, and an alarm is sent to the preset personnel.

5. The three-dimensional positioning method for intelligent physical mahjong according to claim 4, characterized in that: The specific process of determining whether to optimize Mahjong positioning accuracy based on the three-dimensional image positioning accuracy evaluation result is as follows: The qualified conveying position offset accuracy observation value and the preset conveying position offset control index are weighted to obtain the conveying position offset-positioning accuracy value, which is used to reflect the effect of the qualified conveying position offset accuracy observation value on the accuracy of the three-dimensional positioning of the intelligent entity mahjong in the conveying trough; After quantifying the degree of convergence between the preset horizontal coordinate deviation of the mahjong feature point and the horizontal coordinate deviation of the mahjong feature point, a weighted operation is performed with the preset horizontal coordinate deviation control index to obtain the horizontal coordinate deviation-positioning accuracy value, which is used to reflect the effect of the horizontal coordinate deviation of the mahjong feature point on the accuracy of the three-dimensional positioning of the intelligent entity mahjong in the conveyor trough; After quantifying the degree of convergence between the vertical coordinate deviation of the preset mahjong feature point and the vertical coordinate deviation of the mahjong feature point, a weighted operation is performed with the preset horizontal coordinate deviation control index to obtain the vertical coordinate deviation-positioning accuracy value, which is used to reflect the effect of the vertical coordinate deviation of the mahjong feature point on the accuracy of the three-dimensional positioning of the intelligent entity mahjong in the conveyor trough; The accurate data of Mahjong three-dimensional image positioning are coupled and processed to obtain accurate observation values ​​of three-dimensional image positioning; If the three-dimensional image positioning accuracy observation value is greater than the preset mahjong positioning qualified value, a three-dimensional positioning qualified prompt is sent, and the corresponding mahjong code tile data is transmitted to the preset driving device to perform the card pushing operation; otherwise, a three-dimensional positioning unqualified prompt is sent, and the mahjong positioning accuracy is optimized; The three-dimensional image positioning accurate observation value is used to reflect the effect of the mahjong conveying position offset accurate parameter and the preset mahjong conveying position offset accurate parameter on the accuracy of the three-dimensional positioning of the mahjong in the conveying trough.

6. The three-dimensional positioning method for intelligent physical mahjong according to claim 1, characterized in that: The mahjong positioning accuracy optimization includes positioning accuracy optimization and positioning image processing optimization; The specific process of optimizing positioning accuracy is as follows: Step 1: Provide accurate feedback on the three-dimensional image positioning: transmit the corresponding mahjong delivery adjustment data when the three-dimensional image positioning accurate observation value is not greater than the preset mahjong positioning qualified value to the pusher motor; Step 2: Compensate for the push rod driving accuracy: feedback is performed on the push head motor speed to obtain the push head motor speed adjustment value, and the push head motor speed feedback indicates that a prompt is sent to the preset personnel to use the accurate deviation of the mahjong three-dimensional image positioning as a feedback signal of the PID algorithm, and the push head motor speed adjustment value is output as a control signal to control the push head motor; Step 3, adjust the speed of the pusher motor: send a prompt to the preset personnel to adjust the speed of the pusher motor during the mahjong push process with an amplitude corresponding to the adjustment amount of the pusher motor speed.

7. The three-dimensional positioning method for intelligent physical mahjong according to claim 6, characterized in that: The positioning accuracy optimization also includes positioning accuracy optimization qualification verification, the specific process is as follows: VV1, obtaining the card pushing position deviation of the pusher, wherein the card pushing position deviation is represented by the average value of the horizontal distance between the center line of the final state of the conveying trough and the center line parallel to the preset conveying trough; VV2, determines the card pushing position deviation. If the card pushing position deviation of the card pushing rod is not greater than the preset card pushing position deviation, a card pushing qualified prompt and a positioning accuracy optimization verification qualified prompt are sent. Otherwise, a card pushing unqualified prompt is sent and fed back to the preset control center.

8. The three-dimensional positioning method for intelligent physical mahjong according to claim 6, characterized in that: The specific process of the positioning image processing optimization is as follows: If the obtained mahjong image positioning delay value is not greater than 0, a mahjong image positioning delay unqualified prompt is sent and the mahjong image positioning delay is optimized; If the obtained mahjong image positioning delay value is greater than 0, a mahjong image positioning delay qualified prompt is sent; The mahjong image positioning delay optimization means reducing the delay of mahjong image positioning through multi-pixel edge detection and parallel processing.

9. The three-dimensional positioning method for intelligent physical mahjong according to claim 8, characterized in that: The specific process of the mahjong image positioning delay optimization is as follows: BB1, perform multi-pixel edge detection: send a prompt to a preset person to detect a preset number of qualified pixels using a preset operator unit to improve the mahjong image positioning speed, wherein the preset number of qualified pixels is represented by a preset number of pixels not greater than a preset maximum number of pixels, and the preset number of pixels is obtained by mapping the mahjong image positioning delay value and the number of logic units into a database; BB2, parallel processing: sending a prompt to a preset person to process the mahjong image in parallel based on the parallel processing unit to reduce the positioning delay of the mahjong image.

10. A three-dimensional positioning system for intelligent physical mahjong, applying the three-dimensional positioning method for intelligent physical mahjong according to any one of claims 1 to 9, characterized in that: It includes the conveyor belt conveying impact degree monitoring module, the conveying channel conveying accuracy monitoring module and the 3D image positioning accuracy monitoring module: The conveyor belt conveying influence degree monitoring module is used to evaluate the conveyor belt conveying influence degree during the process of conveying the physical mahjong to the conveying trough to determine whether to optimize the conveying position offset; The conveying channel conveying accuracy monitoring module is used to perform conveying channel conveying accuracy assessment to determine whether to perform three-dimensional image positioning accuracy assessment after the conveyor belt conveying impact degree assessment is qualified; The three-dimensional image positioning accuracy monitoring module is used to determine whether to optimize the mahjong positioning accuracy based on the three-dimensional image positioning accuracy evaluation result if a three-dimensional image positioning accuracy evaluation is performed, otherwise an alarm prompt is sent to a preset person.

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