A 3D positioning method and system for intelligent physical mahjong

Abstract

This invention discloses a three-dimensional positioning method and system for intelligent physical mahjong tiles, relating to the field of mahjong tile recognition technology. The three-dimensional positioning method for intelligent physical mahjong tiles includes the following steps: monitoring the impact of conveyor belt transport; monitoring the accuracy of conveyor channel transport; and monitoring the accuracy of three-dimensional image positioning. This invention assesses the impact of conveyor belt transport to determine whether to optimize the conveyor position offset. Then, after the conveyor belt transport impact assessment is satisfactory, it assesses the accuracy of conveyor channel transport to determine whether to assess the accuracy of three-dimensional image positioning. Finally, if the three-dimensional image positioning accuracy assessment is performed, it determines whether to optimize the mahjong tile positioning accuracy; otherwise, it sends an alarm. This achieves the effect of improving the three-dimensional positioning accuracy of intelligent physical mahjong tiles in the conveyor trough, solving the problem in existing technologies where uneven tension of the mahjong tile conveyor belt leads to low three-dimensional positioning accuracy of intelligent physical mahjong tiles in the conveyor trough.

Description

Technical Field

[0001] This invention relates to the field of mahjong recognition technology, and in particular to a three-dimensional positioning method and system for intelligent physical mahjong tiles. Background Technology

[0002] With the rapid development of artificial intelligence, image recognition, automatic control, and network communication technologies, traditional automatic mahjong machines are gradually evolving into more advanced "intelligent physical mahjong machines." Compared to traditional mahjong machines that only perform basic functions such as shuffling, stacking, and dealing, intelligent physical mahjong systems integrate advanced technologies such as high-precision spatial positioning, image recognition, remote operation, human-computer interaction, behavior analysis, and AI (Artificial Intelligence) game analysis. These systems are widely used in high-end competitive events, intelligent teaching systems, cloud-based battle platforms, and mahjong AI training systems. The three-dimensional position and spatial posture (position X / Y / Z 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 tile drawing, discarding, and pong / kong operations, as well as supporting the precise grasping of mahjong tiles by a robotic arm in remote mahjong systems. The mechanical structure of the intelligent mahjong system includes: a shuffling area, a conveyor belt, a conveyor trough, a tile pusher, an image recognition system, and a main control system. The shuffling area, located on the lower left side of the system, is used for mixing and distributing the mahjong tiles. The conveyor belt, a central transmission structure, connects the shuffling area and the conveyor trough, precisely delivering the mahjong tiles to a predetermined position. The conveyor trough, located at the end of the transmission line near the tile pusher, receives the mahjong tiles for stacking, ensuring alignment and centering. The tile pusher, located in the horizontal movement unit, is responsible for stacking the tiles, pushing them to a designated area to form an array. The image recognition system, installed above or to the side of the conveyor trough, collects tile images and obtains spatial positions. The main control system, located at the system's logical center, controls the overall operation and processes and compensates for the collected tile images.

[0003] During the process of transporting mahjong tiles from the shuffling area to the conveyor trough and finally stacking them into a neat array by the pushing mechanism, in a remote multiplayer mahjong game scenario, players can initiate shuffling commands via a mobile application or computer client. These commands are transmitted via network to the main control system of the mahjong machine. Upon receiving the command, the main control system activates the stirring device in the shuffling area. After the mahjong tiles are placed in the shuffling area, the stirring device begins to work. The stirring device typically consists of multiple rotatable blades or stirring rods, which rotate according to a preset program to thoroughly stir the mahjong tiles, randomizing the tile orientation to ensure uniformity and randomness in the shuffling. After stirring is complete, the dispensing device in the shuffling area begins to work, pushing the stirred mahjong tiles out of the shuffling area one by one in a certain order and quantity. The dispensing device typically consists of one or more pushing mechanisms and guide rails. The distributing mechanism pushes the mahjong tiles along the guide rail onto the conveyor belt. The main control system monitors the operating status of the distributing device through sensors, such as the position and pushing force of the distributing mechanism. This information is transmitted to remote players in real time via the network, allowing players to understand the distribution progress. After the mahjong tiles are distributed from the shuffling area onto the conveyor belt, the conveyor belt begins to move at the set speed and direction. After the conveyor belt transports the mahjong tiles to the entrance of the conveyor trough, the receiving device inside the conveyor trough starts to work. The receiving device usually consists of one or more receiving slots, each of which can hold one mahjong tile. When the mahjong tile reaches the receiving slot, the conveyor belt stops running, and the mahjong tile enters the receiving slot under the action of inertia. The size and shape of the receiving slot match the mahjong tile, ensuring that the tile can be placed stably in the slot. After the mahjong tile enters the receiving slot, the alignment device inside the conveyor trough starts to work. The alignment device can employ various methods, such as mechanical pushers, pneumatic devices, or electromagnetic devices. These devices adjust the mahjong tiles within the receiving slot, aligning them and placing them centered. An image recognition system is installed above or to the side of the conveyor trough. Once the mahjong tiles enter the conveyor trough and are aligned, the image recognition system begins operation. The system uses a high-resolution camera to capture images of the mahjong tiles, and the acquired image data is transmitted to the main control system via a data cable. Upon receiving the image data, the main control system analyzes the image using image processing algorithms, identifying the patterns and numbers on the mahjong tiles, and then transmits the image and data to the remote player. Based on the tile positions and information provided by the image recognition system, the main control system calculates the designated area where the pusher needs to push the mahjong tiles. Then, the main control system sends action commands to the pusher, including parameters such as the direction, distance, and speed of the push. Upon receiving the commands, the pusher begins preparing to execute the placement action.

[0004] When existing conventional mahjong machines implement the above-mentioned intelligent mahjong functions, the existing conveyor belts mainly rely on the limiting devices on both sides of the conveyor belt for positioning. This process mainly relies on photoelectric sensors to determine the position and enter the receiving slot through inertia. After a certain number of mahjong tiles accumulate in the receiving slot, the action of the tile pushing device is triggered. The tile pushing plate will neatly push the mahjong tiles in the receiving slot to the designated playing area, completing the tile pushing action.

[0005] However, in the process of implementing the inventive technical solution in the embodiments of this application, it was found that the above-mentioned technology has at least the following technical problems:

[0006] In existing technologies, in intelligent physical mahjong sets, 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 neat geometric array in space.

[0007] When a shuffling command is remotely initiated and transmitted to the main control system of the mahjong machine via the network, if the mahjong conveyor belt is loose, it may cause uneven tension in the conveyor belt. This can lead to a positional shift of the tiles as they are rotated and sent to the conveyor trough, resulting in a spatial deviation between the image coordinate system and the mechanical coordinate system acquired during 3D positioning. This can lead to a problem of low 3D positioning accuracy of the intelligent physical mahjong tiles in the conveyor trough due to uneven tension in the mahjong conveyor belt. Summary of the Invention

[0008] This application provides a three-dimensional positioning method and system for intelligent physical mahjong, which solves the problem in the prior art where the three-dimensional positioning accuracy of intelligent physical mahjong in the conveyor trough is low due to uneven tension of the mahjong conveyor belt, and improves the effectiveness of three-dimensional image positioning accuracy assessment.

[0009] This application provides a three-dimensional positioning method for intelligent physical mahjong, including the following steps: during the process of transporting the physical mahjong to the conveyor trough, an assessment of the influence of the conveyor belt is performed to determine whether to optimize the conveyor position offset. Optimization of the conveyor position offset means reducing the impact of uneven conveyor belt tension on the accuracy of transporting the physical mahjong by correcting and feeding back the conveyor belt speed. After the assessment of the influence of the conveyor belt is deemed satisfactory, an assessment of the accuracy of the conveyor channel is performed to determine whether to perform a three-dimensional image positioning accuracy assessment. If a three-dimensional image positioning accuracy assessment is performed, the result of the assessment determines whether to optimize the mahjong positioning accuracy; otherwise, an alarm is sent to a preset personnel. Optimization of the mahjong positioning accuracy means improving the three-dimensional positioning accuracy of the physical mahjong in the conveyor trough through positioning accuracy optimization and positioning image processing optimization.

[0010] This application provides a three-dimensional positioning system for intelligent physical mahjong sets, employing a three-dimensional positioning method for intelligent physical mahjong sets, including a conveyor belt conveying impact monitoring module, a conveyor channel conveying accuracy monitoring module, and a three-dimensional image positioning accuracy monitoring module. The conveyor belt conveying impact monitoring module assesses the impact of the conveyor belt during the process of transporting the physical mahjong set to the conveyor trough to determine whether to optimize the conveying position offset. The conveyor channel conveying accuracy monitoring module assesses the conveyor channel conveying accuracy after the conveyor belt conveying impact assessment is deemed satisfactory, to determine whether to conduct a three-dimensional image positioning accuracy assessment. The three-dimensional image positioning accuracy monitoring module, if a three-dimensional image positioning accuracy assessment is conducted, determines whether to optimize the mahjong set positioning accuracy based on the assessment result; otherwise, it sends an alarm notification to a preset personnel.

[0011] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0012] 1. By assessing the impact of conveyor belt transport to determine whether to optimize the conveyor position offset, remote players can monitor the real-time operation of the conveyor belt and the transport of mahjong tiles, allowing them to understand the real-time information of the transport process. After the conveyor belt transport impact assessment is satisfactory, the transport channel accuracy assessment is performed to determine whether to conduct a 3D image positioning accuracy assessment. This allows remote players to view images and sensor data within the transport channel in real-time via a client, understanding the transport of mahjong tiles. Finally, if a 3D image positioning accuracy assessment is performed, it determines whether to optimize the mahjong tile positioning accuracy; otherwise, an alarm is sent to preset personnel. This helps remote players monitor the operation of the transport channel in real-time, reducing remote monitoring interruptions caused by transport channel problems. This improves the effectiveness of the 3D image positioning accuracy assessment, thereby improving the 3D positioning accuracy of the intelligent physical mahjong tiles within the transport trough. This effectively solves the problem of low 3D positioning accuracy of intelligent physical mahjong tiles within the transport trough due to uneven tension of the mahjong conveyor belt in existing technologies.

[0013] 2. By coupling the accurate data of the mahjong tile conveying position offset as the observation value of the conveying position offset accuracy, the system determines whether to conduct a three-dimensional image positioning accuracy assessment based on the observation value of the conveying position offset accuracy. The conveying position offset observation value and the three-dimensional image positioning accuracy assessment results are transmitted to the client in real time, which helps remote players to understand the mahjong tile conveying operation at any time. This improves the reliability of the conveying accuracy assessment of the conveying channel, and further improves the pass rate of the three-dimensional image positioning accuracy assessment.

[0014] 3. By first performing accurate feedback on 3D image positioning, then compensating for the accuracy of the pusher motor drive, and finally adjusting the speed of the pusher motor during the mahjong pusher process by adjusting the speed of the pusher motor accordingly, accurate 3D image positioning information is provided to remote players, improving mahjong operation efficiency and remote monitoring accuracy. This achieves improved positioning accuracy and reliability, and ultimately enhances the overall positioning accuracy. Attached Figure Description

[0015] Figure 1 A flowchart illustrating a three-dimensional positioning method for intelligent physical mahjong provided in an embodiment of this application;

[0016] Figure 2 A schematic diagram of the structure of a three-dimensional positioning system for intelligent physical mahjong provided in an embodiment of this application;

[0017] Figure 3 A schematic diagram of the overall logic of the three-dimensional positioning method for intelligent physical mahjong provided in the embodiments of this application;

[0018] Figure 4 This application provides a basic logical framework diagram for a three-dimensional positioning method for intelligent physical mahjong. Detailed Implementation

[0019] This application provides a three-dimensional positioning method and system for intelligent physical mahjong sets, solving the problem of low three-dimensional positioning accuracy of intelligent physical mahjong sets in the conveyor trough due to uneven tension of the mahjong conveyor belt in the prior art. By assessing the impact of the conveyor belt during the transport of the physical mahjong sets to the conveyor trough to determine whether to optimize the conveyor position offset, and then, after the conveyor belt impact assessment is satisfactory, assessing the accuracy of the conveyor channel to determine whether to assess the accuracy of three-dimensional image positioning, and finally, if the three-dimensional image positioning accuracy assessment is performed, determining whether to optimize the mahjong positioning accuracy based on the assessment result; otherwise, sending an alarm to preset personnel, thus improving the three-dimensional positioning accuracy of intelligent physical mahjong sets in the conveyor trough.

[0020] The technical solution in this application embodiment aims to solve the problem of low three-dimensional positioning accuracy of intelligent physical mahjong tiles in the conveyor trough due to uneven tension of the mahjong conveyor belt. The overall approach is as follows:

[0021] By assessing the impact of conveyor belt transport, it is determined whether to optimize the conveyor position offset. Then, after the conveyor belt transport impact assessment is qualified, the transport accuracy of the conveyor channel is assessed to determine whether to assess the accuracy of 3D image positioning. Finally, if the 3D image positioning accuracy assessment is performed, it is determined whether to optimize the positioning accuracy of the mahjong tile. Otherwise, an alarm is sent to the preset personnel, which achieves the effect of improving the 3D positioning accuracy of the intelligent physical mahjong tile in the conveyor trough.

[0022] The three-dimensional positioning system for intelligent physical mahjong provided in this application embodiment is also equipped with automatic adjustment devices, such as intelligent pusher head motor controller, intelligent position controller, and intelligent speed controller. It can be used to realize remote control of physical mahjong in scenarios where multiple people play mahjong remotely. For example, the automatic adjustment device can adjust the speed and force of shuffling according to the player's preference, 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 usability of intelligent physical mahjong.

[0023] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figure 1 The diagram shows a flowchart of a three-dimensional positioning method for intelligent physical mahjong provided in an embodiment of this application. The method includes the following steps: Monitoring the impact of conveyor belt transport: During the process of conveying the physical mahjong to the conveyor trough, the impact of conveyor belt transport is assessed to determine whether to optimize the conveyor position offset. Optimizing the conveyor position offset means reducing the impact of uneven conveyor belt tension on the accuracy of conveying the physical mahjong through conveyor belt speed correction and feedback. Monitoring the accuracy of conveyor channel transport: After the conveyor belt transport impact assessment is passed, i.e., the uniform value of the conveyor belt tension is within the preset range of conveyor belt loosening influence, the accuracy of conveyor channel transport is assessed to determine whether to perform a three-dimensional image positioning accuracy assessment. The conveyor channel transport accuracy assessment is used to evaluate the accuracy of the physical mahjong in the conveyor channel. The accuracy of conveying within the conveyor channel is assessed using 3D image positioning accuracy evaluation to reflect the accuracy of mahjong image positioning based on 3D positioning methods. 3D image positioning accuracy monitoring: If a 3D image positioning accuracy evaluation is performed, the evaluation results determine whether mahjong positioning accuracy optimization is necessary; otherwise, an alarm is sent to preset personnel. Mahjong positioning accuracy optimization indicates that the 3D positioning accuracy of the physical mahjong tiles in the conveyor trough is improved through positioning accuracy optimization and positioning image processing optimization. During remote player monitoring, the impact of conveyor belt transport can be monitored, allowing real-time viewing of the conveyor belt's operating status and the mahjong tile transport on a computer client. This improves the accuracy and real-time performance of the transport process monitoring information transmitted to remote players via the network.

[0025] like Figure 2 The diagram shows a structural schematic of a three-dimensional positioning system for intelligent physical mahjong provided in an embodiment of this application. The system utilizes a three-dimensional positioning method for intelligent physical mahjong, including a conveyor belt conveying impact monitoring module, a conveyor channel conveying accuracy monitoring module, and a three-dimensional image positioning accuracy monitoring module. The conveyor belt conveying impact monitoring module assesses the impact of the conveyor belt during the process of transporting the physical mahjong to the conveyor trough to determine whether to optimize the conveying position offset. The conveyor channel conveying accuracy monitoring module assesses the conveyor channel conveying accuracy after the conveyor belt conveying impact assessment is deemed satisfactory, to determine whether to conduct a three-dimensional image positioning accuracy assessment. If a three-dimensional image positioning accuracy assessment is conducted, the three-dimensional image positioning accuracy monitoring module determines whether to optimize the mahjong positioning accuracy based on the assessment result; otherwise, it sends an alarm to a preset personnel.

[0026] In this embodiment, as Figure 3 The diagram shown is a general logic schematic of the three-dimensional positioning method for intelligent physical mahjong provided in this application embodiment. Figure 3 It can be seen that: the uniformity of conveyor belt tension is obtained by monitoring the influence of conveyor belt transport. When the uniformity of conveyor belt tension is not within the preset range of conveyor belt loosening influence, the conveyor position offset is optimized. The conveyor position offset optimization includes conveyor belt speed correction and conveyor belt speed feedback. When the uniformity of conveyor belt tension is within the preset range of conveyor belt loosening influence, the conveyor channel transport accuracy is monitored to obtain the conveyor position offset accuracy observation value. When the monitored conveyor position offset accuracy observation value is not greater than the preset mahjong conveyor position offset value, an alarm is sent to the preset personnel. The accuracy of 3D image positioning is judged. When the conveyor position offset accuracy observation value is greater than the preset mahjong conveyor position offset value, the 3D image positioning accuracy observation value is further obtained. When the monitored 3D image positioning accuracy observation value is not greater than the preset mahjong positioning qualified value, the mahjong positioning accuracy is optimized. The mahjong positioning accuracy optimization includes positioning accuracy optimization and positioning image processing optimization. When the 3D image positioning accuracy observation value is greater than the preset mahjong positioning qualified value, the corresponding mahjong tile data is transmitted to the preset drive device to perform the tile pushing operation.

[0027] like Figure 4 The diagram shown is a basic logical framework diagram of the three-dimensional positioning method for intelligent physical mahjong provided in the embodiments of this application. Figure 4It can be seen that: by assessing the impact of conveyor belt transport, the uniformity of conveyor belt tension is obtained. If the assessment of the impact of conveyor belt transport is qualified, the accuracy of conveyor channel transport is assessed to obtain the accuracy observation value of conveyor position offset. Otherwise, the conveyor position offset is optimized. When the accuracy observation value of conveyor position offset is not greater than the preset mahjong conveyor position offset value, an alarm is sent to the preset personnel. Otherwise, the accuracy of three-dimensional image positioning is assessed and the accuracy observation value of three-dimensional image positioning is obtained. When the accuracy observation value of three-dimensional image positioning is greater than the preset mahjong positioning qualified value, the tile pushing operation is executed. Otherwise, the mahjong positioning accuracy is optimized.

[0028] Monitoring the impact of conveyor belt transport helps to achieve real-time assessment and optimization of the conveyor belt's operating status, reducing transport deviations caused by uneven tension. Monitoring the accuracy of the conveyor channel provides an accurate basis for 3D positioning, ensuring efficient operation of the transport process. Monitoring the accuracy of 3D image positioning helps to improve the 3D positioning accuracy of the mahjong image. The interaction of monitoring the impact of conveyor belt transport, the accuracy of the conveyor channel, and the accuracy of 3D image positioning helps to achieve precise control from the conveyor belt to the pushing of tiles. This, in turn, improves the 3D positioning accuracy of the intelligent physical mahjong tiles within the conveyor trough. For example, remote players can monitor and adjust the mahjong machine's operating status in real time through a client. Players can manually adjust the conveyor belt speed according to their personalized style and rhythm. Remote monitoring helps to promptly detect and handle faults during the mahjong machine's operation, reducing downtime caused by malfunctions.

[0029] Furthermore, an assessment of the impact of conveyor belt conveying is conducted to determine whether conveyor position offset optimization is necessary. The specific process is as follows: The uniform tension value of the conveyor belt is obtained; the maximum and minimum radial pressure values ​​of the preset conveyor section of the conveyor belt are monitored using pressure sensors over a preset time period, and the difference is used as the uniform tension value of the conveyor belt; a judgment is made based on the obtained uniform tension value of the conveyor belt and the preset conveyor belt loosening impact range. The preset conveyor belt loosening impact range is pre-set by preset personnel and includes the endpoints of the corresponding upper and lower limits; if the uniform tension value of the conveyor belt is within the preset conveyor belt loosening impact range, a conveyor belt impact compliance prompt is sent, and the accuracy of the conveyor channel offset is assessed; if the uniform tension value of the conveyor belt is not within the preset conveyor belt loosening impact range, conveyor position offset optimization is performed. The conveyor belt conveying impact assessment is used to evaluate the degree of interference of uneven conveyor belt tension on the accuracy of conveying physical mahjong tiles.

[0030] Specifically, the process for optimizing the conveyor position offset is as follows: First, the conveyor belt speed is corrected: The uniform value of the conveyor belt tension and the conveyor belt load are input into the database for correction to obtain the preset conveyor belt speed adjustment ratio. The average value of the load pressure monitored at the preset point of the conveyor belt is used as the conveyor belt load. The preset conveyor belt speed adjustment ratio is compared with the preset maximum conveyor speed adjustment ratio: If the preset conveyor belt speed adjustment ratio is greater than the preset maximum conveyor speed adjustment ratio, a conveyor abnormality alarm is sent; otherwise, the corresponding preset 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 conveyor belt speed of the mahjong set according to the appropriate speed adjustment ratio; if the uniform value of the conveyor belt tension is obtained again after the conveyor position offset optimization is within the preset conveyor belt loosening influence range, a conveyor position offset optimization qualified prompt is sent, and the accuracy of the conveyor channel offset is evaluated; if the conveyor belt speed is reduced to the preset minimum conveyor speed, and the uniform value of the conveyor belt tension is still outside the preset conveyor belt loosening influence range, a conveyor position offset optimization abnormality alarm is sent. The preset minimum conveyor speed and preset maximum conveyor speed adjustment ratio are set in advance by the preset personnel.

[0031] It should be added that a database storing various settings data was established before the design of the three-dimensional positioning method for intelligent physical mahjong provided in this application. The database includes, but is not limited to, preset uniform tension values ​​of qualified mahjong conveyor belts, preset rotation angle deviations, and preset conveying time deviations, etc., and the various values ​​are directly set by technicians. The database also includes a conveyor belt speed correction set, which is used to reflect the correction relationship between the uniform tension value of the conveyor belt and the load of the conveyor belt and the corresponding preset mahjong conveyor belt speed adjustment ratio.

[0032] In this embodiment, controlling the uniformity of the conveyor belt tension within a preset range affected by conveyor belt loosening helps ensure stable operation of the conveyor belt, reduces conveying deviations caused by uneven tension, and improves the accuracy and reliability of conveying the physical mahjong tiles. Gradually reducing the conveying speed of the mahjong tile conveyor belt by adjusting the amplitude corresponding to the qualified speed ratio helps achieve precise control of the conveying speed and improves conveying quality. Correcting the conveyor belt speed by inputting the uniformity of the conveyor belt tension and the conveyor belt load into a conveyor belt speed correction set in the database helps dynamically adjust the conveying speed, ensuring the conveyor belt maintains optimal operating conditions under different loads and tensions. This, in turn, improves the accuracy of the three-dimensional positioning of the intelligent physical mahjong tiles within the conveying trough.

[0033] Furthermore, an accuracy assessment of the conveyor channel is conducted to determine whether a three-dimensional image positioning accuracy assessment is necessary. The specific process is as follows: SS1, by quantifying the degree of convergence between the preset uniform tension value of the qualified conveyor belt and the uniform tension value of the qualified conveyor belt, a weighted calculation is performed with a preset tension uniformity control index to obtain the tension uniformity and offset accuracy values, which reflect the effect of the uniform tension value of the qualified conveyor belt on the accuracy of conveying the intelligent physical mahjong to the conveyor trough. Here, the degree of convergence quantization in this application refers to performing a ratio calculation; the uniform tension value of the qualified conveyor belt is represented by the uniform tension value of the conveyor belt within the preset conveyor belt loosening influence range; specifically, the expression for the tension uniformity and offset accuracy values ​​is: , Q represents the preset delivery time period number, and M represents the total number of preset delivery time periods. This represents the tension uniformity and offset accuracy values ​​for the Qth preset conveying time period. This represents the average tension value of the qualified conveyor belt during the Qth preset conveying time period. This indicates the preset uniform tension value of the qualified conveyor belt. This indicates the preset tension uniformity control index. This indicates a preset first constant, which represents a constant within a preset delivery time period. This constant is used to ensure that the preset mahjong delivery position does not deviate from the accurate parameter, which is no greater than 0.

[0034] SS2 quantifies the approximation degree of preset rotation angle deviation and rotation angle deviation, and performs a weighted calculation with a preset angle deviation control index to obtain the angle deviation and offset accuracy values. These values ​​reflect the impact of rotation angle deviation on the accuracy of conveying the intelligent physical mahjong tiles to the conveyor trough. Specifically, the expressions for the angle deviation and offset accuracy values ​​are as follows: , This represents the accurate value of the angle deviation and offset during the Qth preset delivery time period. This indicates the rotation angle deviation during the Qth preset delivery time period. Indicates the preset rotation angle deviation. The preset angle deviation control index is indicated. The units of preset rotation angle deviation and rotation angle deviation are both degrees. The average value of the relative offset angle between the center line of the mahjong tile and the center line of the preset conveying channel in each conveying channel during the preset conveying time period is used as the rotation angle deviation.

[0035] SS3, by quantifying the degree of convergence of the preset conveying time deviation and the conveying time deviation itself, and then weighting them with the preset time deviation control index, generates the time deviation and offset accuracy values. These values ​​reflect the impact of the conveying time deviation on the accuracy of conveying the mahjong tiles to the conveying trough. Specifically, the expressions for the time deviation and offset accuracy values ​​are as follows: , This represents the accurate value of the time deviation and offset for the Qth preset delivery time period. This represents the delivery time deviation for the Qth preset delivery time period. Indicates the preset delivery time deviation. The preset time deviation control index is indicated. The units of preset delivery time deviation and delivery time deviation are both milliseconds. The delivery time deviation is the difference between the average total time of mahjong tiles passing through each delivery channel to the delivery trough during the preset delivery time period and the preset delivery time, which is monitored by a timer.

[0036] SS4, by coupling the accurate data of the mahjong transport position offset, is used as an observation value of the transport position offset accuracy. It is used to reflect the effect of the mahjong transport position offset accuracy parameter and the preset mahjong transport position offset accuracy parameter on the accuracy of the intelligent physical mahjong being transported to the transport trough.

[0037] The accuracy of the transport position offset observations was obtained using the following method:

[0038] ;

[0039] In the formula, This represents the observed value of the accuracy of the delivery position offset during the Qth preset delivery time period.

[0040] Specifically, the accurate data on mahjong tile conveying position offset includes the tension uniformity and offset accuracy values, angle deviation and offset accuracy values, and time deviation and offset accuracy values; the accurate parameters of mahjong tile conveying position offset include the qualified conveyor belt tension uniformity value, rotation angle deviation, and conveying time deviation; the preset accurate parameters of mahjong tile conveying position offset include the preset qualified conveyor belt tension uniformity value, preset rotation angle deviation, and preset conveying time deviation; the preset conveying time period represents the preset time period during which the mahjong tile conveyor belt conveys the mahjong tiles to the conveying trough, and the preset accurate parameters of mahjong tile conveying position offset are represented by the average value of the accurate parameters of mahjong tile conveying position offset over historical time periods.

[0041] It should be explained that this 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. This mapping group is obtained from a database and contains a mapping set. The mapping relationship in the mapping set can be a one-to-one correspondence or a many-to-one relationship. The preset transport position offset control data is represented by the proportion of the corresponding accurate parameters of the mahjong transport position offset. By using the preset mapping relationship set in advance by the preset personnel, the accurate parameters of the mahjong transport position offset and the preset transport position offset control data are mapped one-to-one or many-to-one to obtain the mapping group. By inputting the real-time accurate parameters of the mahjong transport position offset 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, the value range of which is 0-1.

[0042] It should be added that the accuracy of the transport position offset is compared with the preset mahjong transport position offset value obtained from the database. If the accuracy of the transport position offset is greater than the preset mahjong transport position offset value, a three-dimensional image positioning accuracy assessment is performed. Otherwise, no three-dimensional image positioning accuracy assessment is performed, and an alarm is sent to the preset personnel. The preset mahjong transport position offset value is represented by the average value of the transport position offset accuracy observations over a historical time period.

[0043] In this embodiment, the accuracy of the mahjong tile conveying position offset is further quantified by analyzing the accuracy data of the mahjong tile conveying position offset to obtain the observed value of the conveying position offset accuracy. A larger mahjong tile conveying position offset accuracy data indicates a stronger effect of the uniformity of the qualified conveyor belt tension, the rotation angle deviation, and the conveying time deviation on the accuracy of the intelligent physical mahjong tile conveying to the conveying trough, thus leading to a larger observed value of the conveying position offset accuracy. In summary, in this embodiment, the mahjong tile conveying position offset accuracy data and the observed value of the conveying position offset accuracy are positively correlated.

[0044] In this embodiment, the monitored mahjong tile conveying position offset parameters are not isolated but interconnected, requiring correlation analysis to describe their combined effects. A smaller uniform tension value on the qualified mahjong tile conveyor belt (i.e., a larger tension uniformity and offset accuracy value) allows the mahjong tile to move more smoothly on the conveyor belt, reducing swaying and offset caused by uneven belt tension. This helps the mahjong tile's centerline get closer to the preset conveyor channel centerline, resulting in a smaller rotation angle deviation (i.e., a larger angle deviation and offset accuracy value). A smaller uniform tension value on the qualified mahjong tile conveyor belt means the mahjong tile passes through each conveyor channel at a relatively stable speed, helping to reduce conveying time and potentially leading to a smaller conveying time deviation (i.e., a larger time deviation and offset accuracy value). A larger rotation angle deviation means a greater likelihood of the mahjong tile colliding and rubbing against the conveyor channel wall during conveying, hindering the mahjong tile's transport and resulting in a larger conveying time deviation. By analyzing the comprehensive influence of these parameters, a precise assessment of the accuracy of mahjong tile delivery to the conveyor trough is achieved, thereby improving the three-dimensional positioning accuracy of the intelligent physical mahjong tile within the conveyor trough.

[0045] Furthermore, based on the 3D image positioning accuracy assessment results, a decision is made regarding 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 reflects the effect of the qualified conveying position offset accuracy observation value on the accuracy of the 3D positioning of the intelligent physical mahjong in the conveying 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 for the conveying position offset - positioning accuracy value is: , E represents the number of the preset location time period, and H represents the total number of preset location time periods. This represents the delivery position offset minus the positioning accuracy value during the Eth preset positioning time period. This represents the observed value of the qualified delivery position offset accuracy during the Eth preset positioning time period. This indicates the preset conveying position offset control index.

[0046] After quantifying the convergence degree of the preset horizontal coordinate deviation of mahjong feature points and the horizontal coordinate deviation of mahjong feature points, a weighted operation is performed with a preset horizontal coordinate deviation control index to obtain the horizontal coordinate deviation-positioning accuracy value. This value reflects the effect of the horizontal coordinate deviation of mahjong feature points on the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveying trough. Specifically, the expression for the horizontal coordinate deviation-positioning accuracy value is as follows: , This represents the x-axis deviation minus the accurate positioning value for the Eth preset positioning time period. This represents the x-coordinate deviation of the mahjong feature point during the Eth preset positioning time period. This indicates the deviation of the x-coordinate of the preset mahjong feature points. This indicates a preset second constant, which represents a constant within a preset positioning time period. This constant is used to prevent the preset mahjong 3D image positioning accuracy parameter from being no greater than 0. The preset horizontal coordinate deviation control index is represented by the units of the preset horizontal coordinate deviation of the mahjong feature points and the horizontal coordinate deviation of the mahjong feature points. The horizontal coordinates of the preset mahjong feature points in the preset rectangular coordinate system are monitored by preset 3D reconstruction software, such as Agisoft Metashape, during the preset positioning time period. The average value of the absolute value of the difference between the preset horizontal coordinate and the preset horizontal coordinate is taken as the horizontal coordinate deviation of the mahjong feature points. The preset mahjong feature points are represented by the center points that are preset by preset personnel in the conveyor trough based on the 3D positioning method.

[0047] After quantifying the convergence degree of the preset mahjong feature point ordinate deviation and the preset horizontal coordinate deviation control index, a weighted operation is performed to obtain the ordinate deviation - positioning accuracy value. This value reflects the effect of the mahjong feature point ordinate deviation on the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveying trough. Specifically, the expression for the ordinate deviation - positioning accuracy value is as follows: , This represents the vertical coordinate deviation minus the accurate positioning value for the Eth preset positioning time period. This represents the deviation of the ordinate of the mahjong feature point in the Eth preset positioning time period. This indicates the deviation of the ordinate of the preset mahjong feature points. The preset vertical coordinate deviation control index is represented by the units of the preset mahjong feature point vertical coordinate deviation and the preset mahjong feature point vertical coordinate deviation. The preset 3D reconstruction software monitors the vertical coordinates of the preset mahjong feature points in the preset rectangular coordinate system during the preset positioning time period, and the average value of the absolute value of the difference between the preset vertical coordinate and the preset vertical coordinate is taken as the vertical coordinate deviation of the mahjong feature points.

[0048] The accurate positioning data of the mahjong three-dimensional image are coupled to obtain the accurate observation value of the three-dimensional image positioning. The accurate observation value of the three-dimensional image positioning is used to reflect the effect of the mahjong conveying position offset accuracy parameter and the preset mahjong conveying position offset accuracy parameter on the accuracy of the three-dimensional positioning of the mahjong in the conveying trough.

[0049] The accurate observations for 3D image localization were obtained using the following method:

[0050] ;

[0051] In the formula, This represents the accurate observation value of the 3D image positioning during the Eth preset positioning time period.

[0052] It should be added that the accurate positioning data of the mahjong 3D image 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 3D 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 are used to reflect the degree of influence of the mahjong conveying position offset accuracy data on the observed value of the 3D image positioning accuracy; the mahjong 3D image positioning accuracy parameters include the qualified conveying position offset accuracy observed value, the horizontal coordinate deviation of the mahjong feature point, and the vertical coordinate deviation of the mahjong feature point; the preset mahjong 3D image positioning accuracy parameters include the preset horizontal coordinate deviation of the mahjong feature point and the preset vertical coordinate deviation of the mahjong feature point; the preset positioning time period represents the preset time period corresponding to the 3D image positioning accuracy evaluation; and the preset mahjong 3D image positioning accuracy parameters are represented by the average value of the mahjong 3D image positioning accuracy parameters over historical time periods.

[0053] It should be explained that this application embodiment provides a mapping group containing mapping sets obtained from a database. Through a preset mapping relationship set in advance by preset personnel, the accurate positioning data of mahjong 3D images and the preset accurate positioning control data of mahjong 3D images are mapped one-to-one or many-to-one to obtain the mapping group. This mapping group is used to reflect the mapping relationship between the accurate positioning data of mahjong 3D images and the corresponding preset accurate positioning control data of mahjong 3D images. The mapping relationship can be one-to-one or many-to-one. By inputting the real-time accurate positioning data of mahjong 3D images into the corresponding mapping group, the corresponding preset accurate positioning control data of mahjong 3D images can be obtained. The preset accurate positioning control data of mahjong 3D images is represented by the proportion of the corresponding accurate positioning data of mahjong 3D images. This data includes a preset conveying position offset control index, a preset horizontal axis deviation control index, and a preset vertical axis deviation control index, and its value range is 0-1.

[0054] In this embodiment, the accuracy of the 3D positioning of the mahjong tiles in the conveyor trough is further quantified by analyzing the accuracy of the 3D positioning data of the mahjong tiles' 3D images to obtain accurate 3D image positioning observations. A larger 3D image positioning accuracy data for the mahjong tiles indicates a stronger influence of the accuracy of the qualified conveyor position offset observations on the accuracy of the 3D positioning of the intelligent physical mahjong tiles in the conveyor trough, a stronger influence of the horizontal coordinate deviation of the mahjong tile feature points on the accuracy of the 3D positioning of the intelligent physical mahjong tiles in the conveyor trough, and a stronger influence of the vertical coordinate deviation of the mahjong tile feature points on the accuracy of the 3D positioning of the intelligent physical mahjong tiles in the conveyor trough, thus leading to a larger 3D image positioning accuracy observation value. In summary, in this embodiment, the 3D image positioning accuracy data for the mahjong tiles and the 3D image positioning accuracy observation value are positively correlated.

[0055] In this embodiment, the monitored 3D image positioning accuracy parameters of the mahjong tiles are not isolated but interconnected, requiring correlation analysis to describe their combined effects. A larger observed value for the accuracy of the qualified conveying position offset (i.e., a larger conveying position offset minus positioning accuracy) means higher accuracy in conveying the mahjong tiles to the conveying trough, closer to the preset position, and a lower likelihood of deviation between the mahjong tile image feature points and the preset coordinates. This results in smaller deviations in the horizontal and vertical coordinates of the mahjong tile feature points (i.e., larger values ​​for horizontal and vertical coordinate deviations minus positioning accuracy). A larger horizontal coordinate deviation may indirectly lead to rotation or tilting of the mahjong tile image during positioning, potentially resulting in a larger vertical coordinate deviation. By analyzing the comprehensive influence of these parameters, a precise assessment of the accuracy of the 3D positioning of the physical mahjong tiles in the conveying trough is achieved, thereby improving the accuracy of the 3D positioning of the intelligent physical mahjong tiles within the conveying trough.

[0056] Furthermore, the system compares the accurate observation value of the 3D image positioning with the preset mahjong positioning qualification value obtained from the database. If the accurate observation value of the 3D image positioning is greater than the preset mahjong positioning qualification value, a 3D positioning qualification prompt is sent, and the corresponding mahjong tile data is transmitted to the preset drive device to perform the tile pushing operation. Otherwise, a 3D positioning failure prompt is sent, and the mahjong positioning accuracy is optimized.

[0057] Specifically, 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 3D image positioning accuracy feedback. 3D image positioning accuracy feedback means transmitting the mahjong conveying adjustment data, such as conveying interval and conveyor belt vibration frequency, to the pusher head motor when the 3D image positioning accuracy observation value is not greater than the preset mahjong positioning qualified value. The preset mahjong positioning qualified value is represented by the average of the 3D image positioning accuracy observation values ​​over a historical time period. Step 2, perform pusher rod drive accuracy compensation. Pusher rod drive accuracy compensation is used to compensate for the impact of inaccurate mahjong positioning in the conveying trough on the accuracy of the mahjong pusher rod drive. Pusher rod drive accuracy compensation means performing pusher head motor speed feedback to obtain the pusher head motor speed adjustment amount. Pusher head motor speed feedback means sending a prompt to the preset personnel to use the mahjong 3D image positioning accuracy deviation as... The feedback signal of the PID (Proportional-Integral-Derivative) algorithm outputs the speed adjustment of the pusher motor as a control signal to control the pusher motor. The accuracy deviation of the mahjong 3D image positioning is represented by the difference between the preset mahjong positioning pass value and the 3D image positioning accuracy observation value. In step three, the speed of the pusher motor is adjusted. The speed adjustment means sending a prompt to the preset personnel to adjust the speed of the pusher motor during the mahjong pusher process by the corresponding magnitude of the speed adjustment. The speed adjustment of the pusher motor is used to reduce the positional deviation during the pusher process, thereby improving the driving accuracy of the preset drive device. The speed of the pusher motor is the speed of the pusher motor. Adjusting the speed of the pusher motor is used to indirectly control the acceleration of the pusher, making it more stable during the push and reducing shaking and errors.

[0058] It should be added that a mahjong tile pushing device typically includes the following main components:

[0059] The tile-receiving block receives the mahjong tiles delivered by the tile-feeding device; the tile-pushing head pushes the mahjong tiles from the tile-receiving block to the flat-push tile-loading device. After the tile-receiving block receives the mahjong tiles from the tile-feeding device, the tile-pushing head, driven by a tile-pushing head motor, moves forward via a tile-pushing transmission mechanism. The front end of the tile-pushing head contacts the edge of the mahjong tile, pushing it from the tile-receiving block onto the tile-pushing plate. When the tile-pushing head pushes the mahjong tiles from the tile-receiving block onto the tile-pushing plate, the tile-pushing plate typically waits for a sufficient number of mahjong tiles to accumulate in the receiving slot (e.g., one...). The number of tiles required for the tile wall is determined by the following: The tile pusher plate begins to carry the mahjong tiles and moves along the central guide rail via the tile pusher transmission mechanism. After the tile pusher plate pushes the mahjong tiles to the designated position on the table, it stops moving. At this point, the mahjong tiles are neatly arranged on the table for players to use. The tile pusher head motor provides power and drives the movement of the tile pusher head and the tile-bearing block through the transmission mechanism. The tile pusher transmission mechanism includes a tile pusher curve wheel, a lifting slider, a swing rod, and a tile pusher arm, which are used to convert the power of the tile pusher head motor into the horizontal swing of the tile pusher head and the lifting and lowering movement of the tile-bearing block.

[0060] It should be added that the positioning accuracy optimization also includes the verification of the positioning accuracy optimization qualification. The specific process is as follows: VV1, obtain the pushing position deviation of the pusher lever. The horizontal distance between the center line of the mahjong tiles at the end of the conveyor trough and the preset parallel center line of the conveyor trough is monitored by an industrial camera, and the average value is used as the pushing position deviation of the pusher lever; VV2, determine the pushing position deviation. The pushing position deviation of the pusher lever is compared with the preset pushing position deviation obtained from the database. If the pushing position deviation of the pusher lever is not greater than the preset pushing position deviation of the pusher lever, a pushing qualification prompt and a positioning accuracy optimization verification qualification prompt are sent. Otherwise, a pushing failure prompt is sent and fed back to the preset control center. The preset pushing position deviation of the pusher lever is represented by the average value of the pushing position deviation of the pusher lever over a historical time period.

[0061] In this embodiment, when a prompt for accurate 3D image positioning is received, the mahjong conveying adjustment data corresponding to the mahjong positioning accuracy observation value not exceeding the preset mahjong positioning qualification value is transmitted to the pusher motor. This helps ensure that the conveyor belt's operating state meets the preset standard, reduces positioning inaccuracies caused by positioning deviations that interfere with the pusher's pushing process, and improves the stability and accuracy of 3D positioning. By using the mahjong 3D image positioning accuracy deviation as a feedback signal for the PID algorithm, the pusher motor speed adjustment amount is output as a control signal to control the pusher motor. This 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 pusher's driving accuracy, and improve the level of automated control in the mahjong pushing process. When a prompt for pusher motor speed adjustment is received, the pusher motor speed is adjusted by the magnitude corresponding to the pusher motor speed adjustment amount during the mahjong pushing process. This helps to reduce the positional deviation during the pusher's pushing process to ensure the precise execution of the pushing action.

[0062] By monitoring the positional deviation of the pusher to verify the qualification of the mahjong positioning accuracy optimization, it is beneficial to reduce the interference of positioning deviation on the pusher's pushing process. By controlling the pusher's positional deviation to be no greater than the preset pusher's positional deviation and sending a push qualification prompt, it is beneficial to improve the operational reliability of the pushing process and ensure the overall stability of mahjong transportation and the pusher's pushing process. In turn, it improves the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveying trough.

[0063] Furthermore, the specific process of positioning image processing optimization is as follows: Obtain the positioning delay value of the mahjong image; obtain the preset mahjong image positioning time and the actual mahjong image positioning time from the database using a timer to preset the positioning time period; use the difference between these as the mahjong image positioning delay value; if the obtained mahjong image positioning delay value is not greater than 0, send a mahjong image positioning delay failure prompt and perform mahjong image positioning delay optimization; if the obtained mahjong image positioning delay value is greater than 0, send a mahjong image positioning delay success prompt; mahjong image positioning delay optimization means reducing the degree of mahjong image positioning delay through multi-pixel edge detection and parallel processing.

[0064] Specifically, the optimization process for mahjong image positioning delay is as follows: BB1, perform multi-pixel edge detection. Multi-pixel edge detection means sending a prompt to a preset user and detecting a preset number of qualified pixels using a preset operator unit, such as the Sobel operator, to improve the positioning speed of the mahjong image. The preset number of qualified pixels is represented by a preset number of pixels that is no greater than the preset maximum number of pixels. The preset number of pixels is obtained by mapping the mahjong image positioning delay value and the number of logical units into a database. The preset number of pixels mapping set is used to reflect the mapping relationship between the mahjong image positioning delay value, the number of logical units, and the corresponding preset number of pixels. BB2, perform parallel processing. Parallel processing means sending a prompt to a preset user and processing the mahjong image in parallel using a parallel processing unit to reduce the positioning delay of the mahjong image.

[0065] It should be added that the database contains a mapping set that reflects 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; 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).

[0066] In this embodiment, by monitoring the positioning delay value of the mahjong image, and optimizing the positioning delay when the detected positioning delay value is not greater than 0, it helps to promptly detect delay problems in the mahjong image positioning process, ensuring 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 image positioning delay. Thus, the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveyor trough is improved.

[0067] In summary, this embodiment of the application assesses the impact of conveyor belt transport to determine whether to optimize the conveyor position offset. Then, after the conveyor belt transport impact assessment is qualified, it assesses the accuracy of the conveyor channel to determine whether to assess the accuracy of three-dimensional image positioning. Finally, if the three-dimensional image positioning accuracy assessment is performed, it determines whether to optimize the mahjong positioning accuracy; otherwise, it sends an alarm to a preset personnel. This improves the effectiveness of the three-dimensional image positioning accuracy assessment, thereby improving the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough. It effectively solves the problem in the prior art where the three-dimensional positioning accuracy of the intelligent physical mahjong in the conveyor trough is low due to uneven tension of the mahjong conveyor belt.

[0068] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0070] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0071] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0072] 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.

[0073] 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 sets, characterized in that, The following steps are involved: During the process of transporting physical mahjong tiles to the conveyor trough, the degree of influence of the conveyor belt is evaluated to determine whether to optimize the conveyor position offset. The conveyor position offset optimization means reducing the impact of uneven conveyor belt tension on the accuracy of transporting physical mahjong tiles by correcting and feeding back the conveyor belt speed. After the conveyor belt conveying impact assessment is passed, the conveying channel conveying accuracy assessment is carried out to determine whether a three-dimensional image positioning accuracy assessment is required. If a 3D image positioning accuracy assessment is performed, the result of the 3D image positioning accuracy assessment will determine whether to optimize the mahjong positioning accuracy. Otherwise, an alarm will be sent to the preset personnel. The mahjong positioning accuracy optimization means improving the 3D positioning accuracy of the physical mahjong in the conveyor trough through positioning accuracy optimization and positioning image processing optimization. The process for determining whether to optimize the mahjong positioning accuracy based on the 3D image positioning accuracy assessment results is as follows: The qualified conveying position offset accuracy observation value and the preset conveying position offset control index are weighted and calculated 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 physical mahjong in the conveying trough. After quantifying the degree of convergence of the preset mahjong feature point abscissa deviation and the mahjong feature point abscissa deviation, a weighted operation is performed with the preset abscissa deviation control index to obtain the abscissa deviation-positioning accuracy value, which is used to reflect the effect of the abscissa deviation of the mahjong feature point on the accuracy of the three-dimensional positioning of the intelligent physical mahjong in the conveying trough. After quantifying the degree of convergence of the preset mahjong feature point vertical coordinate deviation and the preset horizontal coordinate deviation control index, a weighted operation is performed to obtain the vertical coordinate deviation - positioning accuracy value, which is used to reflect 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 conveying trough. The accurate positioning data of the three-dimensional image of the mahjong tile is coupled and processed to obtain the accurate observation value of the three-dimensional image positioning. If the 3D image positioning accuracy observation value is greater than the preset mahjong positioning qualification value, a 3D positioning qualification prompt is sent, and the corresponding mahjong tile data is transmitted to the preset drive device to perform the tile pushing operation; otherwise, a 3D positioning failure prompt is sent, and mahjong positioning accuracy is optimized. The accurate observations of the three-dimensional image positioning are used to reflect the combined effect of the accurate parameters of the mahjong transport position offset and the preset accurate parameters of the mahjong transport position offset on the accuracy of the three-dimensional positioning of the mahjong in the transport trough.

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

3. The three-dimensional positioning method for intelligent physical mahjong as described in claim 2, characterized in that, The specific process for optimizing the delivery position offset is as follows: The first step is to correct the conveyor belt speed: input the uniform value of the conveyor belt tension and the load of the conveyor belt into the database 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 conveyor speed adjustment ratio, send a conveyor abnormality alarm; otherwise, mark the corresponding preset mahjong conveyor belt speed adjustment ratio as a qualified speed adjustment ratio. The second step is to provide feedback on the conveyor belt speed: send a prompt to the preset personnel to gradually reduce the conveyor speed of the mahjong conveyor belt by the appropriate adjustment ratio. If the uniform value of conveyor belt tension obtained after optimization of conveyor position offset is within the preset range of conveyor belt loosening influence, a qualified prompt for conveyor position offset optimization will be sent, and the accuracy of conveyor channel offset will be evaluated. If the conveyor belt speed is reduced to the preset minimum conveyor speed and the uniform value of the conveyor belt tension is still not within the preset range of conveyor belt loosening influence, an alarm message indicating abnormal conveyor position deviation will be sent.

4. The three-dimensional positioning method for intelligent physical mahjong as described in claim 1, characterized in that, The process of evaluating the accuracy of the transport channel to determine whether to perform a 3D image positioning accuracy evaluation is as follows: SS1 quantifies the degree of convergence between the preset uniform tension value of the qualified conveyor belt and the uniform tension value of the qualified conveyor belt, and performs a weighted calculation with the preset tension uniformity control index to obtain the tension uniformity and offset accuracy value, which is used to reflect the effect of the uniform tension value of the qualified conveyor belt on the accuracy of the intelligent physical mahjong being transported to the conveyor trough. SS2 quantifies the degree of convergence of the preset rotation angle deviation and the rotation angle deviation, and performs weighted calculation with the preset angle deviation control index to obtain 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, by quantifying the degree of convergence of the preset conveying time deviation and the conveying time deviation, and then weighting it with the preset time deviation control index to obtain the time deviation and offset accuracy value, is used to reflect the effect of the conveying time deviation on the accuracy of conveying mahjong to the conveying trough. SS4, by coupling the accurate data of mahjong conveying position offset, is used as the observation value of conveying position offset accuracy. It is used to reflect the effect of the mahjong conveying position offset accuracy parameter and the preset mahjong conveying position offset accuracy parameter on the accuracy of intelligent physical mahjong being conveyed to the conveying trough. SS5: If the obtained observation value of the conveying position offset accuracy is greater than the preset mahjong conveying position offset value, a three-dimensional image positioning accuracy assessment is performed; otherwise, no three-dimensional image positioning accuracy assessment is performed, and an alarm is sent to the preset personnel.

5. The three-dimensional positioning method for intelligent physical mahjong as described in claim 1, characterized in that, The mahjong positioning accuracy optimization includes positioning accuracy optimization and positioning image processing optimization; The specific process for optimizing positioning accuracy is as follows: Step 1, perform accurate feedback of 3D image positioning: transmit the mahjong transport adjustment data corresponding to the mahjong positioning accuracy observation value that is not greater than the preset mahjong positioning qualified value to the pusher head motor; Step 2, perform accuracy compensation for pusher motor drive: perform pusher motor speed feedback to obtain pusher motor speed adjustment amount. The pusher motor speed feedback means sending a prompt to the preset personnel to accurately position the mahjong 3D image as the feedback signal of the PID algorithm, and outputting the pusher motor speed adjustment amount as the control signal to control the pusher 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 by the corresponding range during the pusher process.

6. The three-dimensional positioning method for intelligent physical mahjong as described in claim 5, characterized in that, The positioning accuracy optimization also includes verifying the compliance of the positioning accuracy optimization, the specific process of which is as follows: VV1, obtain the position deviation of the pusher stick, which is represented by the average horizontal distance between the center line of the mahjong tile at the end of the conveying trough and the preset parallel center line of the conveying trough; VV2 performs a card-pushing position deviation determination. 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 feedback is sent to the preset control center.

7. The three-dimensional positioning method for intelligent physical mahjong as described in claim 5, characterized in that, The specific process of optimizing the localization image processing is as follows: If the obtained mahjong image positioning delay value is not greater than 0, send a mahjong image positioning delay failure prompt and perform mahjong image positioning delay optimization; If the obtained mahjong image positioning delay value is greater than 0, send a mahjong image positioning delay qualified prompt; The mahjong image positioning delay optimization refers to reducing the delay in mahjong image positioning through multi-pixel edge detection and parallel processing.

8. The three-dimensional positioning method for intelligent physical mahjong as described in claim 7, characterized in that, The specific process of optimizing the mahjong image positioning delay is as follows: BB1 performs multi-pixel edge detection: a prompt is sent to a preset person to detect a preset number of qualified pixels through a preset operator unit to improve the positioning speed of the mahjong image. 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 mapping the mahjong image positioning delay value and the number of logic units into the database. BB2 performs parallel processing: sends prompts to preset personnel to process mahjong images in parallel based on the parallel processing unit to reduce the positioning delay of mahjong images.

9. A three-dimensional positioning system for intelligent physical mahjong, employing the three-dimensional positioning method for intelligent physical mahjong as described in any one of claims 1-8, characterized in that, This includes a conveyor belt conveying impact monitoring module, a conveyor channel conveying accuracy monitoring module, and a 3D image positioning accuracy monitoring module. The conveyor belt conveying impact monitoring module is used to assess the conveyor belt conveying impact during the process of transporting physical mahjong tiles to the conveyor trough in order to determine whether to optimize the conveying position offset. The conveyor channel conveying accuracy monitoring module is used to assess the conveyor channel conveying accuracy after the conveyor belt conveying influence assessment is qualified, in order to determine whether to conduct a three-dimensional image positioning accuracy assessment. 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 assessment results if a three-dimensional image positioning accuracy assessment is performed; otherwise, it sends an alarm prompt to a preset person.

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