Machine vision billiard training platform

Abstract

The utility model discloses a machine vision billiard training platform, which comprises a workbench and a camera shooting assembly, the top of the workbench is provided with a material placing rack and a moving device for moving billiards, the moving device comprises a manipulator, a clamping part of the manipulator is fixedly provided with a suction device, the suction device comprises a cylinder body, and the cylinder body is provided with a camera shooting assembly. A suction nozzle is fixed to the bottom in the barrel, a double-layer containing box is further arranged on the top of the workbench and comprises a first box body and a second box body located below the first box body, and a plurality of through holes for billiard balls to fall off are formed in the bottom in the first box body. Compared with the prior art, after the billiard balls are placed in the first box body from the material placing frame, the billiard balls need to be poked by a mechanical arm so that the billiard balls can fall into the second box body through the through holes, the complexity is higher, the difficulty is gradually increased, and the practical training effect is better.

Description

Technical Field

[0001] This utility model relates to the field of machine vision technology, and in particular to a machine vision billiards training table. Background Technology

[0002] Machine vision uses computers to simulate human visual functions, extracting, processing, and understanding information from images or multidimensional data, ultimately for practical detection, measurement, and control.

[0003] In vocational schools, technical colleges, universities and other educational institutions, practical training is an important means of cultivating students' practical work ability. Through practical training, students can combine the theoretical knowledge they have learned with actual operation, and better understand and master professional skills. In order to improve students' ability in the field of machine vision, schools will arrange practical training courses for machine vision applications. Generally, teachers put forward goals, and students design corresponding solutions based on the goals.

[0004] The training objectives are limited by the training platform. The existing machine vision training platform only supports the function of moving a specified material from one point to another. The instructor can only make modifications to this function, such as changing the distance between the starting point and the ending point of the material. The solution is relatively simple and the difficulty gradient is not obvious, which is suitable for beginners. However, for students with a certain foundation, the simple solution cannot improve their ability, resulting in poor training effect. Therefore, we propose a machine vision billiard training platform. Utility Model Content

[0005] The main purpose of this invention is to provide a machine vision billiards training platform. After the billiards are placed from the material placement rack into the first box, a robotic arm is used to move the billiards so that they fall into the second box through the through hole. This increases the complexity and difficulty, resulting in better training effects.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A machine vision billiards training table includes a workbench and a camera assembly. The top of the workbench is equipped with a material placement rack and a moving device for moving billiard balls. The moving device includes a robotic arm, and the gripping part of the robotic arm is fixed with a suction device. The suction device includes a cylinder, and a suction nozzle is fixed at the bottom of the cylinder. The top of the workbench is also equipped with a double-layered container, which includes a first container and a second container located below the first container. The bottom of the first container has several through holes for the billiard balls to fall into.

[0008] Furthermore, the camera assembly includes a camera and a bracket connected to the camera. An aperture is provided below the camera and is fixedly connected to the bracket. A connecting rod is connected above the worktable, and the bracket is detachably fixedly connected to the connecting rod.

[0009] Furthermore, the second box and the first box are connected and fixed by a fixing rod, and a fixing plate is fixed to the bottom of the fixing rod and the fixing plate is detachably fixed to the top of the workbench.

[0010] Furthermore, the second box is tilted downwards at an angle of 30 to 60 degrees.

[0011] Furthermore, the material placement rack includes a placement plate and a base plate. The top of the placement plate has several slots that match the shape of billiard balls. The top of the base plate is connected to the placement plate by a rod and the base plate is detachably fixed to the top of the workbench.

[0012] Furthermore, a pneumatic dual unit is fixed on the workbench, and a connecting pipe is fixed on the suction nozzle. The top end of the connecting pipe is located outside the cylinder and is connected to the air outlet of the pneumatic dual unit through an air supply pipe.

[0013] Furthermore, a through-beam grating is provided on one side of the worktable.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The mobile device of this invention can pick up billiard balls from the material placement rack and place them into the first box. Subsequently, the cylinder of the mobile device, under the action of a robotic arm, moves the billiard balls so that they fall into the second box through the through hole. Compared with the training table in the prior art, this training table requires a robotic arm to move the billiard balls after placing them into the first box from the material placement rack, so that they fall into the second box through the through hole. It is more complex and gradually increases in difficulty, resulting in better training effect.

[0016] The suction nozzle of this invention can generate suction force under the action of negative pressure equipment, thereby picking up the billiard ball so that the robotic arm can move the billiard ball.

[0017] The second box of this invention is tilted downwards, so the billiard balls inside the second box will roll down to the side of the second box that is tilted downwards, and there is a large space between this side and the first box, so that people can easily take the billiard balls out of the second box. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the machine vision billiards training table of this utility model.

[0019] Figure 2This is a schematic diagram of the camera component structure of the machine vision billiards training table of this utility model.

[0020] Figure 3 This is a schematic diagram of the suction device structure of the machine vision billiard training table of this utility model.

[0021] Figure 4 This is a schematic diagram of the double-layered housing structure of the machine vision billiard training table of this utility model.

[0022] Figure 5 This is a schematic diagram of the material placement rack structure of the machine vision billiard training table of this utility model.

[0023] In the diagram: 1. Workbench; 101. Connecting rod; 2. Through-beam grating; 3. Camera assembly; 301. Bracket; 302. Camera; 303. Aperture; 5. Material placement rack; 501. Placement plate; 502. Slot; 503. Rod; 504. Base plate; 6. Pneumatic dual unit; 7. Suction device; 701. Suction nozzle; 702. Cylinder; 703. Connecting pipe; 8. Double-layer container; 801. First container; 802. Second container; 803. Through hole; 804. Fixing rod; 805. Fixing plate; 9. Robot arm. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0025] like Figure 1-5 As shown, the machine vision billiards training table includes a workbench 1 and a camera assembly 3. The top of the workbench 1 is equipped with a material placement rack 5 and a moving device for moving billiard balls. The moving device includes a robotic arm 9. The gripping part of the robotic arm 9 is fixed with a suction device 7. The suction device 7 includes a cylinder 702. A suction nozzle 701 is fixed at the bottom of the cylinder 702. The top of the workbench 1 is also equipped with a double-layer receiving box 8. The double-layer receiving box 8 includes a first box body 801 and a second box body 802 located below the first box body 801. The bottom of the first box body 801 has several through holes 803 for the billiard balls to fall into.

[0026] In this embodiment, such as Figure 1 , Figure 3 and Figure 4As shown, the camera assembly 3 includes a camera 302 and a bracket 301 connected to the camera 302. An aperture 303 is provided below the camera 302 and is fixedly connected to the bracket 301. A connecting rod 101 is connected above the worktable 1. The bracket 301 is detachably fixedly connected to the connecting rod 101. A pneumatic dual-unit 6 is also fixed on the worktable 1. A connecting pipe 703 is fixed on the suction nozzle 701. The top end of the connecting pipe 703 is located outside the cylinder 702 and is connected to the air outlet of the pneumatic dual-unit 6 through an air supply pipe.

[0027] Preparation: Personnel first place the billiard balls on the material placement rack 5, then connect the air inlet of the pneumatic dual unit 6 to the negative pressure equipment, and connect the moving device and camera assembly 3 to the controller (computer).

[0028] During the practical training, camera 302 captures the positions of the material placement rack 5, the moving device, and the double-layer container 8. The controller analyzes the image and controls the robotic arm 9 to operate, causing it to move the suction device 7 to contact the billiard ball on the material placement rack 5. At this point, the suction nozzle 701 generates suction under the action of the negative pressure device, thus sucking up the billiard ball. The robotic arm 9 then continues to move, placing the billiard ball on top of the double-layer container 8 (the negative pressure device stops working, and the billiard ball falls into the first container 801). Then, camera 302 continues to capture images of the billiard ball in the first container 801. The controller analyzes the relative position of the through hole 803 of the first box 801 and the billiard ball, thereby controlling the robot arm 9 to continue moving. The outer wall of the cylinder 702 is used to hit the billiard ball into the through hole 803 (at this time, it is necessary to control the moving speed of the robot arm to control the movement speed of the billiard ball, so as to prevent the billiard ball from passing over the through hole and increasing the difficulty), so that the billiard ball falls into the second box 802 to complete the training task (the controller recognizes the image and plans the moving path of the robot arm 9, which is a well known technology to those skilled in the art, and will not be elaborated here. This application only claims protection for the mechanical structure).

[0029] Among them, such as Figure 4 As shown, the second box 802 and the first box 801 are connected and fixed by a fixing rod 804. A fixing plate 805 is fixed to the bottom of the fixing rod 804 and the fixing plate 805 is detachably fixed to the top of the workbench 1 by bolts. The second box 802 is inclined downward at an angle of 30 to 60 degrees. Therefore, the billiard balls in the second box 802 will roll down to one side of the second box 802, and there is a large space between this side and the first box 801 to facilitate the personnel to take the billiard balls.

[0030] Among them, such as Figure 5As shown, the material placement rack 5 includes a placement plate 501 and a base plate 504. The top of the placement plate 501 has several slots 502 that match the shape of billiard balls. Each slot 502 can hold a billiard ball. The volume of the billiard ball inside the slot 502 is less than half of the total volume. The top of the base plate 504 is connected to the placement plate 501 by a rod 503 and the base plate 504 is detachably fixed to the top of the workbench 1 by bolts.

[0031] One side of the workbench 1 is equipped with a through-beam grating 2, which is installed at the student's operating end and is connected to the controller. When the student's limb enters the workbench 1 from this side, the through-beam grating 2 will detect it and stop the robot arm 9 from moving through the controller. The connection between the through-beam grating 2 and the controller and its program are existing technologies and will not be described in detail here.

[0032] The working principle is as follows: First, the operator places the billiard balls on the material placement rack 5. Then, the air inlet of the pneumatic dual-unit 6 is connected to the negative pressure device. Furthermore, the moving device and camera assembly 3 are connected to the controller. During training, the camera 302 captures the positions of the material placement rack 5, the moving device, and the double-layer container 8. The controller analyzes the image and controls the robotic arm 9 to work, causing it to move the suction device 7 to contact the billiard balls on the material placement rack 5. The suction nozzle 701 generates suction under the negative pressure device, thus sucking up the billiard balls. The robotic arm 9 then continues to move. The billiard ball is placed on top of the double-layered container 8. Then, the camera 302 continues to film the position of the billiard ball inside the first container 801. The controller analyzes the relative position of the through hole 803 in the first container 801 and the billiard ball, thereby controlling the robotic arm 9 to continue moving. The outer wall of the cylinder 702 is used to drive the billiard ball into the through hole 803, causing the billiard ball to fall into the second container 802 to complete the training task. During the training, if the trainee's limbs enter the workbench 1, the photoelectric grating 2 will detect the trainee's limbs and stop the robotic arm 9 through the controller to improve safety.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A machine vision billiards training table, comprising a workbench (1) and a camera assembly (3), wherein a material placement rack (5) and a moving device for moving billiard balls are provided on the top of the workbench (1), characterized in that: The moving device includes a robotic arm (9), and a suction device (7) is fixed to the gripping part of the robotic arm (9). The suction device (7) includes a cylinder (702), and a suction nozzle (701) is fixed to the bottom of the cylinder (702). A double-layer container (8) is also provided on the top of the workbench (1). The double-layer container (8) includes a first box (801) and a second box (802) located below the first box (801). Several through holes (803) are opened in the bottom of the first box (801) for the billiard balls to fall.

2. The machine vision billiards training table according to claim 1, characterized in that: The camera assembly (3) includes a camera (302) and a bracket (301) connected to the camera (302). An aperture (303) is provided below the camera (302) and the aperture (303) is connected and fixed to the bracket (301). A connecting rod (101) is connected above the workbench (1). The bracket (301) is detachably and fixedly connected to the connecting rod (101).

3. The machine vision billiards training table according to claim 1 or 2, characterized in that: The second box (802) and the first box (801) are connected and fixed by a fixing rod (804). The bottom of the fixing rod (804) is fixed with a fixing plate (805) and the fixing plate (805) is detachably fixed to the top of the workbench (1).

4. The machine vision billiards training table according to claim 3, characterized in that: The second box (802) is tilted downward at an angle of 30 to 60 degrees.

5. The machine vision billiards training table according to claim 3, characterized in that: The material placement rack (5) includes a placement plate (501) and a base plate (504). The top of the placement plate (501) has several slots (502) that match the shape of billiard balls. The top of the base plate (504) is connected to the placement plate (501) by a rod (503) and the base plate (504) is detachably fixed to the top of the workbench (1).

6. The machine vision billiards training table according to claim 1, characterized in that: The workbench (1) is also fixed with a pneumatic dual unit (6), and the suction nozzle (701) is fixed with a connecting pipe (703). The top end of the connecting pipe (703) is located outside the cylinder (702) and is connected to the air outlet of the pneumatic dual unit (6) through an air supply pipe.

7. The machine vision billiards training table according to claim 1, characterized in that: A photoelectric grating (2) is provided on one side of the workbench (1).

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