TWI740720B - Smart ping-pong luncher with image identification - Google Patents

Abstract

A smart ping-pong launcher with image identification, including a base, a control module, a horizontal rotation motor, an elevation rotation motor, a ball launcher assembly and an image identification module. The control module is set on the base, the horizontal rotation motor is set on the fixed stand of the base, the horizontal rotation motor is provided with a horizontal actuation plate, the elevation angle rotation motor is set on the horizontal actuation plate, the elevation angle rotation motor is provided with an elevation angle actuation plate, and the ball launcher assembly is set at the elevation actuating plate, the ball launcher assembly is equipped with a ball collecting tube, a serve revolver and a serve motor. The collection tube is used to place ping-pong balls. The serve motor drives the rotation of the serve revolver. The image identification module is installed in the ball launcher assembly and electrically connected to the controlled modules. Thereby, the ball launcher of the present invention can adjust the direction of the ball according to the position of the user, the orientation of the racket or the mark.

Description

Smart billiard ball machine with image recognition

The present invention relates to a ball machine, and particularly relates to a smart billiard ball machine with image recognition.

The invention of the automatic ball machine allows ball sports such as billiards or baseball to be practiced by oneself, without the need for a companion, and can arrange the practice time more flexibly.

Among them, because the position of the hitter in baseball is relatively fixed, the automatic ball machine only needs to be set to serve the ball, and further adjust the ball speed or select the change mode of straight or curved, and the hitter will practice swing and hit the ball.

The characteristics of billiards are different from those of baseball. The serving distance of billiards is short, and the players have a wide range of movement. If the automatic serving machine mode of baseball is directly applied to the automatic serving machine of billiards, the ball will fall in a small area. It is easy to predict the position of the ball, and it is not easy to simulate the actual game situation.

In order to solve the above-mentioned problems, one of the conventional technologies, such as the improvement scheme disclosed in the new patent of the billiard ball machine system of Republic of China Announcement No. M600173, mainly uses multiple ball machines for random serve, which includes plural ball machines and one schedule. A device and a user device, each serving machine includes a serving mechanism and a control module, the control module signal is connected to the serving mechanism, and the scheduling device The signal is connected to each control module and includes a plurality of scheduling modules. Each scheduling module corresponds to the aforementioned control module and includes a plurality of parameters. The user device signal is connected to the scheduling device and used for operation to generate a plurality of commands, each command Correspondingly set the parameters of each scheduling module.

The above-mentioned conventional technology uses multiple ball machines for scheduled serve. Although multiple ball points can be provided to form a plurality of ball paths for practitioners to strike, the position and direction of each ball machine are fixed, even if the ball machine can provide By changing the settings of the zone ball, the practitioner can still predict the direction of each ball machine, and it is difficult to improve the user's reaction ability and skills.

In addition, there is also a conventional technology that uses the concept of a robot arm to improve the ball machine. For example, the technology disclosed in the Republic of China Announcement No. M503246, a multi-axis billiard ball serving system, includes an articulated robotic arm. The robotic arm has multiple joints, a robotic arm wrist and a computer control system. The articulated robotic arm drives the multiple joints according to the computer control system, so that the robotic arm wrist can move in a three-dimensional space. Moving and turning; a billiard ball serving device with an electrical switch, when the electrical switch receives a trigger signal, the billiard ball serving device can be used to serve the ball, wherein the billiard ball serving device is fixedly connected to the wrist of the robot arm Terminal; and a controller, which is electrically connected to the computer control system of the articulated robot arm and the electrical switch of the billiard ball serving device, used to transmit the signal to activate or deactivate the articulated robot arm, and output the electrical The trigger signal of the sex switch.

Although the above-mentioned conventional technology can simulate the human body to provide an unpredictable serving point, the high-speed moving robot arm is expensive and not every organization has the ability to purchase it. Moreover, the technology does not have image recognition equipment and can only serve randomly in any direction. , Unable to identify the position of the practitioner and simulate the actual combat course.

In addition, there is a conventional technology, such as the technology disclosed in the invention patent of the multi-angle billiard serving device of the Republic of China Announcement No. I573618, which includes a base unit, a parallel robot unit, and a serving unit. The base unit It includes a base and a support rod arranged on the base. The parallel robot unit includes three first connecting rods arranged at the top of the support rod, and three second connecting rods pivotally connected to the end of the first connecting rod. , Three third connecting rods pivotally connected to the end of the second connecting rod, one fixing seat connected to the three ends of the third connecting rod, three servo motors located between the first and second connecting rods, and A controller electrically connected with the three servo motors, and the serving unit includes a launching base connected with the fixing base, and a serving motor arranged on the launching base and electrically connected with the controller. This can change the elevation angle, left and right direction and speed of the serve.

In summary, the conventional automatic ball server technology still needs improvement.

The purpose of the present invention is to provide a smart billiard ball machine with image recognition, which has a human body movement tracking function, which can increase the sense of presence and change the mode of serving.

Another object of the present invention is to provide a smart billiard ball machine with image recognition. The ball machine can adjust the direction of the ball according to the position of the user and the orientation of the racket.

Another object of the present invention is to provide a smart billiard ball machine with image recognition, which can mark a hitting position on the table, and automatically hit the ball to a specific position through the image recognition, so that the user can practice different angles. Batting practice.

Another object of the present invention is to provide an intelligent billiard ball machine with image recognition, which can automatically determine whether the player is hitting the ball with the left hand or the right hand, so as to facilitate the adjustment of the service mode.

In order to achieve the above objective, the smart billiard ball machine with image recognition of the present invention includes a base, a control module, a horizontal rotation motor, an elevation angle rotation motor, a server assembly, and an image recognition in one embodiment. Module. The base has a fixed stand; the control module is arranged on the base; the horizontal rotation motor is arranged on the fixed stand and is electrically connected to the control module, the horizontal rotation motor is provided with a horizontal actuation plate; the elevation rotation motor is arranged The horizontal actuation plate of the horizontal rotation motor is electrically connected to the control module, the elevation angle rotation motor is provided with an elevation angle actuation plate; the pitcher assembly is arranged on the elevation angle actuation plate of the elevation angle rotation motor, the pitcher assembly is arranged There is a collecting tube, two serving reels and two serving motors. The collecting barrel is used for placing billiard balls. The two serving motors respectively drive the two serving reels to rotate, and the two serving motors are respectively electrically connected to the control module; The image recognition module is arranged in the ball launcher assembly, and the image recognition module is electrically connected with the control module.

In one embodiment, the smart billiard ball machine further includes a communication module, the communication module is electrically connected to the control module, the communication module can be wirelessly connected with a smart device, through the smart device The smart billiard ball machine is set.

In an embodiment, wherein the horizontal actuating plate of the horizontal rotation motor is connected to a horizontal pivot seat, and the elevation angle rotation motor is disposed on the horizontal pivot seat.

In an embodiment, wherein the elevation angle actuating plate of the elevation angle rotation motor is connected to an elevation angle pivot seat, and the server assembly is disposed on the elevation angle pivot seat.

In an embodiment, wherein the bottom of the ball collecting tube is provided with a ball tube connecting seat, and the ball tube connecting seat is provided with a ball drop hole.

In one embodiment, the server assembly is additionally provided with a ball drop motor, the ball collecting tube is provided with an intermittent ball drop plate, the intermittent ball drop plate is provided with an intermittent ball drop hole, and the ball drop motor drives the intermittent ball drop The disk rotates so that the intermittent ball drop hole can be aligned with the ball drop hole intermittently.

In one embodiment, the intermittent ball drop plate is provided with a ramp to connect the intermittent ball drop hole.

In one embodiment, the image recognition module has a recognition function of human body position points.

In an embodiment, wherein the image recognition module has a recognition function of plane position points.

In an embodiment, a track is provided between the ball collecting tube and the two serving runners, and a stopper is provided above the track.

10: Base

101: fixed stand

11: Control module

12: Horizontal rotation motor

120: Horizontal actuator

121: Horizontal pivot seat

13: Elevation angle rotation motor

130: Elevation Actuating Disc

131: Elevation pivot seat

20: Serve assembly

201: Upper bearing seat

21: Collecting ball tube

211: Ball tube connection seat

212: Falling Ball Hole

213: Intermittent drop plate

214: Intermittent drop hole

215: ramp

216: The ball drives the motor

22: Serve runner

221: Serve Motor

23: Orbit

24: stop

25: Stop lever

251: Gear lever motor

30: Image recognition module

31: lens

40: billiards

50: human body

60: Racket

FIG. 1 is a partial exploded perspective view of an embodiment of the smart billiard ball machine with image recognition of the present invention.

2 is a partial exploded perspective view of another embodiment of the smart billiard ball machine with image recognition of the present invention.

3 is a combined perspective view of an embodiment of the smart billiard ball machine with image recognition of the present invention.

4 is a schematic diagram of horizontal rotation of an embodiment of the smart billiard ball machine with image recognition of the present invention.

FIG. 5 is a schematic diagram of the elevation angle rotation of an embodiment of the smart billiard ball machine with image recognition of the present invention.

Fig. 6 is a top view of an embodiment of the smart billiard ball machine with image recognition of the present invention.

Fig. 7 is a cross-sectional view of an embodiment of the smart billiard ball machine with image recognition of the present invention.

Fig. 8 is a partial enlarged view of Fig. 7.

Figure 9 is a partial exploded perspective view of another embodiment of the smart billiard ball machine with image recognition of the present invention picture.

10 is a schematic diagram of the action of the smart billiard ball machine with image recognition of the present invention.

In order to make the purpose, features, and advantages of the present invention obvious and understandable, the preferred embodiments of the present invention will be described in detail in conjunction with the accompanying drawings. The following embodiments illustrate possible implementation aspects of the present invention, but are not intended to limit The scope of protection of the present invention.

Please refer to FIGS. 1 to 3 at the same time. FIG. 1 is a partial exploded perspective view of an embodiment of the smart billiards server with image recognition of the present invention, and FIG. 2 is an embodiment of the smart billiards server with image recognition of the present invention A partial exploded perspective view in another direction. FIG. 3 is a combined perspective view of an embodiment of the smart billiard ball machine with image recognition of the present invention. A preferred embodiment of the smart billiard ball machine with image recognition of the present invention includes a base (10), a control module (11), a horizontal rotation motor (12), an elevation rotation motor (13), A ball server assembly (20) and an image recognition module (30). The base (10) has a fixed stand (101); the control module (11) is arranged on the base (10); the horizontal rotation motor (12) is arranged on the fixed stand (101) and is electrically connected to the control module Set (11), the horizontal rotation motor (12) is provided with a horizontal actuation disc (120); the elevation angle rotation motor (13) is arranged on the horizontal actuation disc (120) of the horizontal rotation motor (12) and is electrically connected to the horizontal actuation disc (120) The control module (11), the elevation angle rotation motor (13) is provided with an elevation angle actuating disc (130); the server assembly (20) is arranged on the elevation angle actuation disc (130) of the elevation angle rotation motor (13), and the serve The device assembly (20) is provided with a collecting tube (21), two serving wheels (22) and two serving motors (221). The collecting tube (21) is used to place the table tennis (40). The two serving motors ( 221) respectively drive the two serving wheels (22) to rotate, and the two serving motors (221) are respectively electrically connected to the control module (11); the image recognition The module (30) is arranged in the ball server assembly (20), and the image recognition module (30) is electrically connected with the control module (11).

The base (10) has a fixed stand (101), and the fixed stand (101) is preferably arranged at the top position of the base (10).

The base (10) is preferably welded into a frame type as shown in the figure by rods, but it is not limited to this. For example, the base (10) can also be set as a box type with a plate, or a type with a weighting device at the bottom, or even a type with a tripod can be directly fixed on the ground.

The purpose of the base (10) is to fix the ball machine firmly on the table or the ground of the table tennis. Therefore, the base (10) can also be provided with a fixture to fix the table board of the table (not shown), so that it can So that the ball machine will not shake or fall randomly.

The control module (11) can be arranged at any position of the base (10) so as not to hinder the operation and facilitate the arrangement of the electronic circuit. The control module (11) contains necessary electronic components such as a power supply device, a microprocessor, a communication module, and a connection port.

Preferably, the smart billiard ball machine of the present invention can additionally be provided with a communication module (not shown), the communication module is electrically connected to the control module (11), and the communication module can be connected to a smart device The wireless connection is used to set the smart billiard ball machine through the smart device.

The above-mentioned smart device may be a wireless communication device such as a smart phone, a tablet computer, etc. Through the smart device, various parameters of the smart billiard ball machine, such as ball speed, straight ball or curve ball, strike mode, and practice mode, can be set.

The horizontal rotation motor (12) is preferably a fixed stand (101) arranged on the top of the base (10), the horizontal rotation motor (12) is electrically connected to the control module (11), and the horizontal rotation motor (12) is preferably It is a servo motor, with a horizontal operating disk (120) outside the motor body, and the control module (11) can transmit a signal to rotate the horizontal operating disk (120) of the horizontally rotating motor (12).

The elevation rotation motor (13) is arranged on the horizontal actuation disc (120) of the horizontal rotation motor (12), so when the horizontal actuation disc (120) rotates, it can drive the elevation rotation motor (13) to rotate together. The elevation angle rotation motor (13) is electrically connected to the control module (11), the elevation angle rotation motor (13) is preferably a servo motor, and an elevation angle actuator (130) is provided outside the motor body, and the control module (11) A signal can be transmitted to rotate the elevation angle actuating plate (130) of the elevation angle rotation motor (13).

The pitcher assembly (20) is set on the elevation angle actuation plate (130) of the elevation angle rotation motor (13), so when the horizontal actuation disc (120) rotates, it can drive the elevation angle rotation motor (13) and the pitcher assembly The components (20) rotate together in a horizontal direction, and when the elevation angle actuating plate (130) rotates, the pitcher assembly (20) can be driven to rotate in the elevation direction.

The server assembly (20) is provided with a bowl (21), two serving wheels (22), and two serving motors (221). The bowl (21) is used to place a billiard ball (40). The motors (221) respectively drive the two serving wheels (22) to rotate. The serving motor (221) can be a high-speed rotating motor, which can drive the serving revolver (22) to rotate at a high speed. When the billiard ball (40) passes between the two serving revolvers (22), it can be ejected at high speed.

The two serving motors (221) are respectively electrically connected to the control module (11). Therefore, through the setting of the program, the control module (11) can change the rotation speed of the second serve motor (221) to change the ball speed. Or through the setting of the program, the control module (11) can make the rotation speed of the two serving motors (221) different, which can cause the billiard table (40) to rotate when it is launched, forming a changing ball with a curved path.

The server assembly (20) preferably further includes an upper bearing seat (201), the upper bearing seat (201) is connected to the elevation actuating plate (130), a ball collecting tube (21), and two serving wheels (22) And the two serving motors (221) and other devices are then arranged on the upper bearing base (201).

The image recognition module (30) is preferably arranged on the ball launcher assembly (20), but can also be arranged on the base (10). The image recognition module (30) is electrically connected with the control module (11). Therefore, through the writing of the program, the image recognition module (30) can be made to track the position of the human body or the position of the racket. Setting, or a specific logo or symbol on a specific table, through the setting of different modes, the server assembly (20) can be directed in different directions by the movement of the horizontal rotation motor (12) and the elevation rotation motor (13) Serve.

The image recognition module (30) can be provided with at least one lens (31), or can be provided with, for example, two lenses (31) placed left and right, so that the distance of the object can be calculated more accurately.

Preferably, the image recognition module (30) can have the recognition function of the human body position point, thereby being able to discriminate the body position of the striker.

Preferably, the image recognition module (30) can also have a recognition function of plane position points. In this way, points can be set on the tabletop of the billiard table or nine square grids can be set, and the image recognition module (30) can perform various training modes according to these points or nine square grids in accordance with the selected settings.

Preferably, the horizontal actuation plate (120) of the horizontal rotation motor (12) can be additionally connected to a horizontal pivot seat (121), and the elevation angle rotation motor (13) is arranged on the horizontal pivot seat (121). This makes the assembly of the mechanism easier.

Preferably, the elevation angle actuating plate (130) of the elevation angle rotation motor (13) is connected to an elevation angle pivot seat (131), and the server assembly (20) is arranged on the elevation angle pivot seat (131). This makes the assembly of the mechanism easier.

Please refer to FIG. 4, which is a schematic diagram of horizontal rotation of an embodiment of the smart billiard ball machine with image recognition of the present invention. When the control module (11) commands the horizontal rotation motor (12) to rotate, the elevation rotation motor (13), the ball launcher assembly (20) and the image recognition module (30) can rotate with the horizontal direction.

Please refer to FIG. 5. FIG. 5 is a schematic view of the elevation angle rotation of an embodiment of the smart billiard ball machine with image recognition of the present invention. When the control module (11) commands the elevation angle rotation motor (13) to rotate, the ball launcher assembly (20) and the image recognition module (30) can rotate along with the elevation angle direction.

Next, please refer to the previous drawings and FIGS. 6 to 8 at the same time. FIG. 6 is a top view of an embodiment of the smart billiards server with image recognition of the present invention, and FIG. 7 is the top view of the smart billiards server with image recognition of the present invention A cross-sectional view of an embodiment, FIG. 8 is a partial enlarged view of FIG. 7. The general ball collecting tube (21) is used to hold multiple billiard balls (40). The bottom of the ball collecting tube (21) is provided with a hole slightly larger in diameter than the billiard balls (40). The serving runner (22) drives the ejection out. However, the disadvantage of this method is that the billiard balls (40) may fall continuously in large numbers, causing the continuous and rapid serve to catch the hitter off guard.

Therefore, in this embodiment, preferably, a ball tube connecting seat (211) is provided at the bottom of the ball collecting tube (21), and the ball tube connecting seat (211) is provided with a ball drop hole (212). More preferably, the server assembly (20) is additionally provided with a ball drop motor (216), the ball collecting tube (21) is provided with an intermittent ball drop plate (213), and the intermittent ball drop plate (213) is provided with an intermittent ball drop plate (213). The intermittent ball drop hole (214), the ball drop disk motor (216) drives the intermittent ball drop plate (213) to rotate, so that the intermittent ball drop hole (214) can intermittently align with the ball drop hole (212).

The ball drop motor (216) can also be electrically connected to the control module (11). The control module (11) can control the rotation speed of the ball drop motor (216). Therefore, the time of each rotation of the intermittent ball drop (213) can be After being adjusted, when the intermittent ball drop hole (214) rotates directly above the ball drop hole (212) with the intermittent ball drop plate (213), the billiard ball (40) can drop to the track (23) below, and then roll to the serving wheel (22) Was ejected. Then, when the intermittent ball drop hole (214) rotates directly above the ball drop hole (212) with the intermittent ball drop plate (213) again, the next table tennis ball (40) will drop again.

In this embodiment, more preferably, the intermittent ball drop plate (213) may also be provided with a ramp (215) to connect the intermittent ball drop hole (214). The ramp (215) is preferably arranged in a loop as shown in Figure 1 The upper surface of the intermittent ball drop plate (213), and gradually deepens like a vortex until it is connected to the intermittent ball drop hole (214), so that the billiard ball (40) can smoothly roll along the ramp (215) to the intermittent ball drop hole ( 214), to avoid jamming.

The above arrangement can usually make the billiard balls (40) fall smoothly in sequence, but in order to prevent the situation that sometimes two billiard balls (40) fall quickly one after another, in this embodiment, it is better to also be in the set. A track (23) is provided between the ball tube (21) and the two serving runners (22), and a stop piece (24) (as shown in Figure 8) is arranged above the track (23), and the stop piece (24) ) Can be a thin cardboard or thin plastic board, which can slightly block the falling billiard balls (40), so that the billiard balls (40) will not be continuously launched.

Please refer to FIG. 9. FIG. 9 is a partial exploded perspective view of another embodiment of the smart billiard ball machine with image recognition of the present invention. In order to further ensure that the billiard balls (40) will not fall continuously, in this embodiment, the server assembly (20) can be additionally provided with a block lever (25) and a block lever motor (251) The blocking rod motor (251) can drive the blocking rod (25) to rotate, so that the blocking rod (25) can move below the ball hole (212) or leave the ball hole (212). The blocking rod motor (251) can be a servo motor, which can drive the blocking rod (25) to move below the falling hole (212) to prevent the table tennis (40) from falling out, and can drive the blocking rod (25) to leave Below the ball drop hole (212), after a billiard ball (40) is dropped out, it quickly moves under the ball drop hole (212) to prevent the next billiard ball (40) from falling out.

Please refer to FIG. 10, which is a schematic diagram of the action of the smart billiard ball machine with image recognition of the present invention. The intelligent billiard ball machine with image recognition of the present invention can recognize the position of the human body (50) or the racket (60) through the image recognition module (30), and the human body movement tracking function can be performed by setting, according to the user's position and racket The direction of the ball can be adjusted to increase the sense of presence and training various ball paths. It can also automatically shoot the ball to a specific point through the image recognition module (30). The user can practice shots from different angles, and can even be set to automatically determine whether the player is hitting the ball with the left hand or the right hand, which is convenient for adjusting the serve mode.

The above-mentioned embodiments are only to illustrate the technical ideas and features of the present invention, and their purpose is to enable those who are familiar with the art to understand the content of the present invention and implement them accordingly. However, the patent scope of the present invention cannot be limited by this. All the equal changes or modifications made in accordance with the spirit of the present invention and the contents of the specification shall be covered by the scope of the patent of the present invention.

10: Base

101: fixed stand

11: Control module

12: Horizontal rotation motor

13: Elevation angle rotation motor

20: Serve assembly

201: Upper bearing seat

21: Collecting ball tube

211: Ball tube connection seat

22: Serve runner

221: Serve Motor

23: Orbit

30: Image recognition module

31: lens

Claims (8)

An intelligent billiard ball machine with image recognition, comprising: a base (10) with a fixed stand (101); a control module (11) arranged on the base (10); a horizontal rotation motor (12) , Arranged on the fixed stand (101) and electrically connected to the control module (11), the horizontal rotation motor (12) is provided with a horizontal actuation plate (120); an elevation angle rotation motor (13) is arranged on the horizontal rotation The horizontal actuator (120) of the motor (12) is electrically connected to the control module (11), the elevation rotation motor (13) is provided with an elevation actuator (130); a ball dispenser assembly (20) is arranged in The elevation actuation plate (130) of the elevation rotation motor (13), the server assembly (20) is provided with a collecting tube (21), two serving wheels (22), two serving motors (221), and a gear lever (25) and a lever motor (251), the collecting tube (21) is used to place the table tennis (40), the two serving motors (221) respectively drive the two serving wheels (22) to rotate, and the two serving motors (221) are respectively electrically connected to the control module (11), the bottom of the ball collecting tube (21) is provided with a ball tube connecting seat (211), and the ball tube connecting seat (211) is provided with a ball hole (212), The blocking lever motor (251) can drive the blocking lever (25) to rotate, so that the blocking lever (25) can move under the ball hole (212) or leave the ball hole (212); and an image recognition module (30), arranged in the ball launcher assembly (20), and the image recognition module (30) is electrically connected to the control module (11). The smart billiard ball machine with image recognition according to claim 1, which further includes a communication module which is electrically connected to the control module (11), and the communication module can be connected to a smart device The wireless connection is used to set the smart billiard ball machine through the smart device. The smart billiard ball machine with image recognition according to claim 1, wherein the horizontal operating plate (120) of the horizontal rotation motor (12) is connected to a horizontal pivot seat (121), and the elevation angle rotation motor (13) ) Is set on the horizontal pivot seat (121). The smart billiard ball machine with image recognition according to claim 1, wherein the elevation angle actuating plate (130) of the elevation angle rotation motor (13) is connected to an elevation angle pivot seat (131), and the server assembly ( 20) Set on the pivoting seat (131) at the elevation angle. The smart billiard server with image recognition according to claim 1, wherein the server assembly (20) is additionally provided with a ball drop motor (216), and the inside of the ball collecting tube (21) is provided with an intermittent ball drop Plate (213), the intermittent ball drop plate (213) is provided with an intermittent ball drop hole (214), and the ball drop plate motor (216) drives the intermittent ball drop plate (213) to rotate, so that the intermittent ball drop hole (214) can be intermittently aligned Quasi-ball hole (212). The smart billiard ball machine with image recognition according to claim 5, wherein the intermittent ball drop plate (213) is provided with a ramp (215) connected to the intermittent ball drop hole (214). The smart billiard ball machine with image recognition according to claim 1, wherein the image recognition module (30) has the recognition function of the human body position point and the recognition function of the plane position point. The smart billiard ball machine with image recognition according to claim 1, wherein a track (23) is provided between the ball collecting tube (21) and the two serving wheels (22), and the track (23) is above A stop piece (24) is provided.

Images