CN110404246B - Desktop air suspension sand pot ball device - Google Patents
Desktop air suspension sand pot ball device Download PDFInfo
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- CN110404246B CN110404246B CN201910745989.1A CN201910745989A CN110404246B CN 110404246 B CN110404246 B CN 110404246B CN 201910745989 A CN201910745989 A CN 201910745989A CN 110404246 B CN110404246 B CN 110404246B
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- 239000000725 suspension Substances 0.000 title claims abstract description 59
- 239000004576 sand Substances 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000011084 recovery Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 238000005070 sampling Methods 0.000 claims description 18
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 6
- 239000000443 aerosol Substances 0.000 claims 10
- 230000002860 competitive effect Effects 0.000 abstract description 6
- 230000002829 reductive effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/06—Games simulating outdoor ball games, e.g. hockey or football
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/06—Games simulating outdoor ball games, e.g. hockey or football
- A63F7/0668—Games simulating outdoor ball games, e.g. hockey or football the ball being flicked with a finger or hit with a stick, cue or sliding disc which are not connected to the table
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
- A63F7/36—Constructional details not covered by groups A63F7/24 - A63F7/34, i.e. constructional details of rolling boards, rims or play tables, e.g. frame, game boards, guide tracks
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
- A63F7/36—Constructional details not covered by groups A63F7/24 - A63F7/34, i.e. constructional details of rolling boards, rims or play tables, e.g. frame, game boards, guide tracks
- A63F7/40—Balls or other moving playing bodies, e.g. pinballs or discs used instead of balls
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/22—Accessories; Details
- A63F7/36—Constructional details not covered by groups A63F7/24 - A63F7/34, i.e. constructional details of rolling boards, rims or play tables, e.g. frame, game boards, guide tracks
- A63F2007/3674—Details of play tables, designed as a table
Abstract
The invention relates to a table air suspension sand pot ball device, which comprises a frame body and an air suspension platform arranged on the frame body, wherein a ball disc recovery mechanism is arranged below the air suspension platform, a control component is arranged at the lower part of the frame body, a movement mechanism is arranged on the air suspension platform, the movement mechanism is arranged in a coreXY structure, and a ball striking handle is arranged on the movement mechanism; the upper part of the frame body is provided with a camera component which is arranged towards the air suspension platform, and the camera component, the movement mechanism and the ball disc recovery mechanism are respectively in communication connection with the control component; the camera component collects image information of the air suspension platform; the motion mechanism moves in the X direction and the Y direction to hit the ball disc; the control component calculates the track of the ball disc through multi-frame image information and controls the batting handle to move to the track of the ball disc; the ball disc recovery mechanism counts the number of balls fed. The device has small volume, saves the occupied area, can be placed in public places as public entertainment facilities, realizes the man-machine fight mode of the sand pot ball, and enhances the interestingness and the competitive performance of the game.
Description
Technical Field
The invention relates to the field of desktop entertainment facilities, in particular to a desktop air suspension sand pot ball device.
Background
The traditional sand pot ball playing method is that a single person or a plurality of persons slide the sand pot ball to a target position in the same direction, and the sand pot ball is moved to a small-sized game table top due to the professional property and the space limitation of a field, so that the sand pot ball becomes a small-sized table top entertainment activity which can be performed at any time. However, because of the singleness of the movement of the sand pot ball, the market has a need for improving the playing method of the small-sized table-top sand pot ball and increasing the interest, thereby promoting the generation of the man-machine-based sand pot ball table game device.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the desktop air suspension sand pot ball device, which has the advantages that compared with the traditional desktop sand pot ball device, the size is greatly reduced, the occupied area is saved, the desktop air suspension sand pot ball device can be placed in public places as public entertainment facilities, the traditional single-person game mode or the man-machine fight mode is updated to the man-machine fight mode, and the interestingness and the competitive nature of the game are enhanced.
The technical scheme for solving the technical problems is as follows:
the table air suspension sand pot ball device comprises a frame body and an air suspension platform arranged on the frame body, wherein a ball disc recovery mechanism is arranged on the air suspension platform, a movement mechanism is arranged on the air suspension platform, one end of the movement mechanism on the air suspension platform is arranged in a coreXY structure, and a ball striking handle is arranged on the movement mechanism; the ball disc recovery mechanism comprises two ball inlets which are respectively arranged on the air suspension platform and close to the moving mechanism and at two ends deviating from the moving mechanism, a camera assembly is arranged on the upper part of the frame body and faces the air suspension platform, a control assembly is arranged on the frame body, and the camera assembly, the moving mechanism and the ball disc recovery mechanism are respectively in communication connection with the control assembly;
the camera component acquires image information of the air suspension platform;
the motion mechanism moves in the X direction and the Y direction and hits the ball disc;
the control component calculates the track of the ball disc through multi-frame image information and controls the batting handle to move
Move to the track of the ball disc;
and the ball disc recycling mechanism counts the number of balls entering.
The player stands on one side of the air suspension table surface, which is away from the movement mechanism, and pushes out the ball disc towards the ball inlet, which is close to the movement mechanism, and the ball disc slides towards the ball inlet along the air suspension table surface; the camera component collects image information of the air suspension platform in a fixed sampling period, the control component carries out differential imaging processing on the sampled multi-frame image information and pre-stored standard image information to obtain a ball disc instantaneous position parameter and a ball striking handle instantaneous position parameter, then calculates a ball disc running track and a pre-estimated track, calculates a path from the ball striking handle to the ball disc, and then controls the movement mechanism to move the ball striking handle along X direction and Y direction so as to strike back the ball disc and prevent the ball disc from entering a own ball inlet; after the ball enters the ball inlet, the ball disc recovery mechanism counts the ball inlet number of each ball inlet so as to obtain the scores of the player and the device respectively. Compared with the traditional table-top sand kettle ball device, the device has the advantages that the size is greatly reduced, the occupied area is saved, the device can be placed in public places to serve as public entertainment facilities, the traditional single-person game mode or the man-machine fight mode is updated to the man-machine fight mode, and the interestingness and the competitive performance of the game are enhanced.
On the basis of the technical scheme, the invention can be improved as follows.
Preferably, the motion mechanism comprises two Y-direction guide rails which are parallel and symmetrically arranged and an X-direction guide rail which spans the two Y-direction guide rails, wherein both ends of the X-direction guide rail are respectively provided with a first sliding block, and the first sliding blocks are in sliding connection with the Y-direction guide rails; one end of the Y-direction guide rail is provided with a synchronous belt driving wheel and a driving motor, the other end of the Y-direction guide rail is provided with a synchronous belt idler wheel, an output shaft of the driving motor is coaxially connected with the synchronous belt driving wheel, and two symmetrical smooth idler wheels are respectively arranged at two ends of the X-direction guide rail; the ball striking handle is fixedly connected with the synchronous belt, a second sliding block is arranged on the ball striking handle, and the second sliding block is in sliding connection with the X-direction guide rail; the synchronous belt, the synchronous belt driving wheel, the synchronous belt idler wheel and the smooth idler wheel are matched to form an H-shaped coreXY structure. The motion mechanism is arranged in the coreXY structure of the H shape, the composition is simple, the batting handle can be controlled to move along the X direction and the Y direction through the positive and negative rotation coordination between two driving motors arranged in the same direction, so that the batting disc is hit, and the batting disc is hit to a corresponding ball inlet to score by a machine. The batting handle is connected with the X-direction guide rail in a sliding way through the second sliding block, and when the batting handle strikes the slipped ball disc, the X-direction guide rail can provide supporting force for the batting handle so as to offset the impulsive force of the ball disc.
Preferably, the air suspension platform comprises a table plate and a coaming, wherein the table plate is transversely arranged, the coaming is longitudinally arranged, the table plate is rectangular, a plurality of longitudinal sieve holes are formed in the table plate, the coaming is arranged around the table plate and is arranged at the edge of the table plate, and the coaming is fixedly arranged on the frame body; an air blower is arranged below the table plate, and an air outlet of the air blower is fixedly arranged on the bottom surface of the table plate; the two Y-shaped guide rails are respectively arranged on the outer sides of the coamings which are arranged in parallel. The air blower blows upwards, and the air blows to the upper portion of the table through the sieve holes on the table, when the ball disc slides on the table, partial gravity can be offset under the action of the wind force, friction force between the ball disc and the table is reduced, the ball disc can slide on the table more smoothly, and game experience is improved.
Preferably, limit sensors are arranged at both ends of the X-direction guide rail and both ends of the Y-direction guide rail, and the limit sensors are in signal connection with the control assembly. The spacing sensor limits the movable distance of the X-direction guide rail along the Y direction and the movable distance of the batting handle along the X direction in a better range, prevents the X-direction guide rail and the batting handle from moving beyond the spacing to strike the device, and plays a role in protecting equipment.
Preferably, the ball disc recovery mechanism comprises a first ball inlet, a second ball inlet and a ball channel, wherein the lower end of the second ball inlet is provided with a ball outlet, and the ball channel is communicated with the first ball inlet and the ball outlet; the ball disc recycling mechanism is further provided with at least two counting sensors, the counting sensors are in communication connection with the control assembly, and the counting sensors count the ball inlet numbers of the first ball inlet and the second ball inlet respectively. The first ball inlet is close to the movement mechanism and is used as a ball inlet of a player, and when the first ball inlet is used for ball feeding, the counting sensor counts the score of the player; the second ball inlet is close to the player and is used as a ball inlet of the batting handle, and when the second ball inlet is used for ball, the counting sensor counts the device as a score. The player can take the recovered disc game out of the ball outlet as the game progresses. When the game is not finished, the counting sensor continuously counts the scores of the first ball inlet and the second ball inlet when the game is still in progress, and when the game is stopped, the counting sensor does not count the scores any more, and data at the end of the countdown are reserved.
Preferably, the ball channel is also provided with an electromagnetic valve, and the electromagnetic valve is in signal connection with the control assembly. When the game starts, the electromagnetic valve is opened, the recovered ball discs can roll to the ball outlet through the ball channel for a player to take, when the game is counted down, the electromagnetic valve is closed, the ball channel is closed, and the recovered ball discs are gathered in the ball channel and do not roll out any more.
Preferably, the frame body is further provided with a display screen, the display screen is in signal connection with the control assembly, and the display screen is used for displaying goal scores and/or game time. The player can intuitively know the score of the player, the score of the device and the game countdown through the display screen.
Preferably, the control assembly comprises:
the image information analysis module is used for performing differential imaging processing on the sampled multi-frame image information and the standard image information to obtain the instantaneous position parameters of the ball disc and the instantaneous position parameters of the batting handle;
the track calculation module is used for calculating the motion track of the ball disc through the instantaneous position parameters of the ball disc and the sampling period, and carrying out linearization treatment on the motion track to obtain an estimated track of the movement of the ball disc;
the track judging module is used for comparing the instantaneous position parameter of the ball disc with the estimated track at the last sampling moment to judge whether the estimated track is correct or not, and if not, recalculating the estimated track;
the path calculation module is used for calculating the movement path from the batting handle to the ball disc according to the preset moving speed of the batting handle, the instantaneous position parameter of the batting handle and the estimated track;
and the motion control module is used for controlling the motion mechanism to move along the X axis and the Y axis so as to enable the batting handle to strike the ball disc.
The standard image is an image of the table top without the ball disc before the game starts, the multi-frame changing image information during the game is processed with the standard image information through a difference image method to obtain the image information of the ball disc only, the coordinate parameters of the ball disc on each frame of image are obtained, and the track function of the ball disc movement can be obtained because the sampling period of each frame of image is a fixed value. Because of the air suspension function of the air suspension platform, the friction force and other resistance of the ball disc and the tabletop can be ignored, and the movement track of the ball disc can be regarded as a linear track. The track function of the ball disc motion is extended forwards, and the estimated track (suitable for the calculated track function) of the ball disc can be obtained. And comparing the actual track of the ball disc with the estimated track in each sampling period to judge whether the estimated track is correct or not, and if not, recalculating the estimated track, and continuously correcting the estimated track of the ball disc in the mode. And each sampling period calculates the movement path from the batting handle to the ball disc according to the preset moving speed of the batting handle, the instantaneous position parameter of the batting handle and the estimated track, and controls the batting handle to move along the X axis and the Y axis by respectively controlling the positive and negative rotation of the two driving motors to mutually match, so that the batting handle is enabled to hit the ball disc, and the ball disc slides to the first ball inlet, thereby achieving the goal of scoring the device.
Preferably, the instantaneous position parameter of the ball disc is a coordinate value of the ball disc on the air suspension platform.
Preferably, the instantaneous position parameter of the batting handle is the coordinate value of the batting handle on the air suspension platform. The track function of the ball disc can be calculated through the coordinate value of the instantaneous position of the ball disc, and the movement speed of the ball disc can be calculated according to the sampling period and the coordinate value of the instantaneous position of the ball disc, so that the follow-up calculation of the path between the batting handle and the ball disc is facilitated.
The beneficial effects of the invention are as follows: the player stands on one side of the air suspension table surface, which is away from the movement mechanism, and pushes out the ball disc towards the ball inlet, which is close to the movement mechanism, and the ball disc slides towards the ball inlet along the air suspension table surface; the camera component collects image information of the air suspension platform in a fixed sampling period, the control component carries out differential imaging processing on the sampled multi-frame image information and pre-stored standard image information to obtain a ball disc instantaneous position parameter and a ball striking handle instantaneous position parameter, then calculates a ball disc running track and a pre-estimated track, calculates a path from the ball striking handle to the ball disc, and then controls the movement mechanism to move the ball striking handle along X direction and Y direction so as to strike back the ball disc and prevent the ball disc from entering a own ball inlet; after the ball enters the ball inlet, the ball disc recovery mechanism counts the ball inlet number of each ball inlet so as to obtain the scores of the player and the device respectively. Compared with the traditional table-top sand kettle ball device, the device has the advantages that the size is greatly reduced, the occupied area is saved, the device can be placed in public places to serve as public entertainment facilities, the traditional single-person game mode or the man-machine fight mode is updated to the man-machine fight mode, and the interestingness and the competitive performance of the game are enhanced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the frame of the present invention;
FIG. 3 is a schematic view of an air bearing platform according to the present invention;
FIG. 4 is a schematic view of the ball tray recycling mechanism according to the present invention;
FIG. 5 is a schematic diagram of a camera assembly of the present invention;
FIG. 6 is a schematic diagram of a display screen according to the present invention;
FIG. 7 is a schematic diagram of a movement mechanism according to the present invention;
FIG. 8 is a schematic diagram of a motion mechanism of the present invention;
FIG. 9 is a schematic diagram of a control assembly according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. the device comprises a frame body, 101, universal wheels, 102, ground feet, 103, a breast board, 2, a camera component, 201, a camera, 202, an LED lamp, 3, a moving mechanism, 301, a driving motor, 302, a synchronous belt driving wheel, 303, a synchronous belt idle wheel, 304, a smooth surface idle wheel, 305, a batting handle, 3051, a second sliding block, 306, a first sliding block, 307, a limit sensor, 308, a limit piece, 309, a Y-direction guide rail, 310, an X-direction guide rail, 311, a synchronous belt, 4, a ball disc recovery mechanism, 401, a first ball inlet, 402, a second ball inlet, 403, a ball channel, 404, a first counting sensor, 405, a second counting sensor, 406, an electromagnetic valve, 407, a ball outlet, 5, a gas suspension platform, 501, a blower, 502, a table board, 5021, a sieve, 503, a coaming board, 504, a sealing pad, 6, a display screen, 601, a first display screen, 602, a second display screen, 603, a third display screen, 7, a control component, 701, an image information analysis module, a track calculation module, a track, a calculation module, a ball path judging module, a 704, a ball disc module, a servo module, a motor, a housing, a servo module 8, a ball housing 8, a motor, a servo module 704, a motion module 8, a motor/a housing 8, a motion module 9.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The table air suspension sand pot ball device shown in fig. 1-2 comprises a frame body 1 and an air suspension platform 5 arranged on the frame body 1, wherein a shell 8 is also arranged on the frame body 1. The bottom of the frame body 1 is provided with a ground anchor 102 and a universal wheel 101, the ground anchor 102 is fixedly installed on the bottom surface during normal use, the ground anchor 102 is detached when the position needs to be transferred, the frame body is pushed to a target position through the universal wheel 101, and the ground anchor 102 is used again for installation. The ball disc recovery mechanism 4 and the movement mechanism 3 are arranged on the air suspension platform 5, the movement mechanism 3 is arranged at one end of the air suspension platform 5 in a coreXY structure, and the ball striking handle 305 is arranged on the movement mechanism 3; the ball dish recovery mechanism 4 includes two ball inlets, and two ball inlets are located respectively and are close to the both ends of motion 3 and deviate from motion 3 on the air suspension platform 5, and support body 1 upper portion is equipped with camera subassembly 2, and camera subassembly 2 sets up towards air suspension platform 5, and as shown in fig. 5, camera subassembly 2 includes camera 201 and LED lamp 202, and LED lamp 202 establishes near camera 201 for air suspension platform 5 light filling is more clear in order to make the image that camera 201 took. The frame body 1 is provided with a control assembly 7, and the camera assembly 2, the movement mechanism 3 and the ball disc recovery mechanism 4 are respectively in communication connection with the control assembly 7;
the camera component 2 acquires image information of the air suspension platform 5;
the motion mechanism 3 moves in the X direction and the Y direction to hit the ball disc 9;
the control component 7 calculates the track of the ball disc 9 through multi-frame image information and controls the driving of the batting handle 305
Move to the track of the ball disc 9;
the ball disc recovery mechanism 4 recovers the ball disc 9 and counts the number of balls fed.
The player stands on one side of the air suspension table surface, which is away from the moving mechanism 3, and pushes out the ball disc 9 towards the ball inlet close to the moving mechanism 3, and the ball disc 9 slides towards the ball inlet along the air suspension table surface; the camera component 2 collects image information of the air suspension platform 5 in a fixed sampling period, the control component 7 carries out differential imaging processing on the sampled multi-frame image information and pre-shot standard image information to obtain instantaneous position parameters of the ball disc 9 and instantaneous position parameters of the ball striking handle 305, then calculates the running track and estimated track of the ball disc 9, calculates the path from the ball striking handle 305 to the ball disc 9, and then controls the movement mechanism 3 to move the ball striking handle 305 along X direction and Y direction so as to hit the ball striking handle 9 back to prevent the ball disc 9 from entering a ball inlet on the own side; after the ball enters the ball inlet, the ball disc recovery mechanism 4 counts the ball inlet number of each ball inlet to obtain the score of the player and the score of the device respectively. Compared with the traditional table-top sand kettle ball device, the device has the advantages that the size is greatly reduced, the occupied area is saved, the device can be placed in public places to serve as public entertainment facilities, the traditional single-person game mode or the man-machine fight mode is updated to the man-machine fight mode, and the interestingness and the competitive performance of the game are enhanced.
On the basis of the technical scheme, the invention can be improved as follows.
In this embodiment, as shown in fig. 7, the moving mechanism 3 includes two parallel and symmetrically arranged Y-guide rails 309 and an X-guide rail 310 that spans the two Y-guide rails 309, two ends of the X-guide rail 310 are respectively provided with a first slider 306, and the first sliders 306 are slidably connected with the Y-guide rails 309; one end of the Y-direction guide rail 309 is provided with a synchronous belt driving wheel 302 and a driving motor 301, the other end of the Y-direction guide rail is provided with a synchronous belt idler wheel 303, an output shaft of the driving motor 301 is coaxially connected with the synchronous belt driving wheel 302, and two symmetrical smooth idler wheels 304 are respectively arranged at two ends of the X-direction guide rail 310; the moving mechanism 3 is also provided with a synchronous belt 311, the batting handle 305 is fixedly connected with the synchronous belt 311, the batting handle 305 is provided with a second sliding block 3051, and the second sliding block 3051 is in sliding connection with the X-ray guide rail 310; the synchronous belt 311 cooperates with the synchronous belt driving wheel 302, the synchronous belt idler 303 and the smooth idler 304 to form an H-shaped coreXY structure. The motion mechanism 3 is arranged in a coreXY structure in an H shape, the components are simple, the ball striking handle 305 can be controlled to move along the X direction and the Y direction through the positive and negative rotation coordination between the two drive motors 301 arranged in the same direction, so that the ball disc 9 is struck, and the ball disc 9 is struck to the corresponding ball inlet to score by the machine. The striking shaft 305 is slidably connected to the X-direction guide rail 310 through the second slider 3051, and the X-direction guide rail 310 provides a supporting force for the striking shaft 305 to counteract the impact force of the ball disc 9 when the striking shaft 305 strikes the slipped ball disc 9.
As shown in fig. 8, the motion principle of the "H" shape coreXY structure motion mechanism 3 of the present embodiment is as follows: the control assembly 7 controls the two driving motors 301 to rotate forward and backward respectively, the driving motor 301 can adopt a servo motor or a stepping motor, and the embodiment adopts the servo motor as an example. When the servo motor M1 and the servo motor M2 rotate in the same direction clockwise or anticlockwise at the same speed, the batting handle 305 on the movement mechanism 3 moves horizontally along the X-axis direction; when the servo motor M1 and the servo motor M2 rotate at the same speed in opposite directions, the striking handle 305 on the movement mechanism 3 moves along the Y-axis direction; when the servo motor M1 rotates and the servo motor M2 is stationary, the striking handle 305 on the movement mechanism 3 will move along the y=x direction; similarly, when the servo motor M2 rotates and the servo motor M1 is stationary, the striking shaft 305 on the movement mechanism 3 moves along the y= -X direction. The operation formula is as follows:
let the rotation speed of the servo motor M1 be V 1 The rotation speed of the servo motor M2 is V 2 The coordinates of the striking shaft 305 on the movement mechanism 3 are (X, Y), and the movement time is t, and there are:
X＝0.5*(V 1 t+V 2 t)；Y＝0.5*(V 1 t-V 2 t)
in this embodiment, as shown in fig. 3, the air suspension platform 5 includes a table plate 502 that is transversely arranged and a coaming 503 that is longitudinally arranged, the table plate 502 is rectangular, a baffle plate 103 that spans the table plate 502 is arranged between the table plate 502, two ends of the baffle plate 103 are fixedly connected with the edge of the table plate 502, a gap that only the ball holding disc 9 passes through is reserved between the bottom of the baffle plate 103 and the table plate 502, and the gap cannot allow the fingers of a player to pass through, so as to prevent the hands of the player from exceeding the limit and influence the game fairness of man-machine fight. A plurality of longitudinal sieve holes 5021 are formed in the table plate 502, a surrounding plate 503 is arranged around the edge of the table plate 502 and is arranged on the edge of the table plate 502, and the surrounding plate 503 is fixedly arranged on the frame body 1; an air blower 501 is arranged below the table plate 502, an air outlet of the air blower 501 is fixedly arranged on the bottom surface of the table plate 502, a sealing gasket 504 is further arranged between the air outlet of the air blower 501 and the bottom surface of the table plate 502, and the sealing gasket 504 plays roles of damping and preventing air leakage in the running process of the air blower 501; two Y-guide rails 309 are respectively arranged outside a pair of coamings 503 which are arranged in parallel, and the lower ends of the Y-guide rails 309 are prevented from interfering with the running of the ball disc 9. The air blower 501 blows upwards, and the air blows to the upper portion of the table 502 through the sieve holes 5021 on the table 502, when the ball disc 9 slides on the table 502, partial gravity can be offset under the action of wind force, friction force between the ball disc 9 and the table 502 is reduced, the ball disc 9 can slide on the table 502 more smoothly, and game experience of players is improved.
In this embodiment, as shown in fig. 7, both ends of the X-guide rail 310 and both ends of the Y-guide rail 309 are provided with limit sensors 307, the limit sensors 307 are connected with the control assembly 7 by signals, the first slider 306 and the second slider 3051 are provided with limit pieces 308, and the limit sensors 307 sense that the limit pieces 308 stop moving continuously. The spacing sensor 307 limits the moving distance of the X-direction guide rail 310 along the Y-direction and the moving distance of the batting handle 305 along the X-direction within a preferred range, so that the X-direction guide rail 310 and the batting handle 305 are prevented from moving beyond the spacing to impact the device, and the equipment is protected.
As shown in fig. 4, the ball disc recovery mechanism 4 comprises a first ball inlet 401, a second ball inlet 402 and a ball channel 403, wherein a ball outlet 407 is arranged at the lower end of the second ball inlet 402, and the ball channel 403 is communicated with the first ball inlet 401 and the ball outlet 407; the ball disc recycling mechanism 4 is further provided with at least two counting sensors which are in communication connection with the control assembly 7, the counting sensors sense whether the ball disc 9 passes through the sensing range of the counting sensors through the photoelectric effect, each ball disc 9 passes through the sensing range of the counting sensors once, the ball disc recycling mechanism counts once, and the control assembly 7 accumulates the counting times to obtain the score of the corresponding ball inlet. Wherein the first counting sensor 404 counts the number of goals of the first goal 401, and the second counting sensor 405 counts the number of goals of the second goal 402. The first ball inlet 401 is close to the movement mechanism 3 and is used as a ball inlet of a player, when the first ball inlet 401 is used for ball feeding, the counting sensor counts the score of the player, and each ball is accumulated with one score; the second inlet 402 is adjacent to the player and acts as an inlet for the striking shaft 305, and the counting sensor counts up a minute each time the second inlet 402 enters a ball. When the game is in progress, the player can take out the recovered ball disk 9 from the ball outlet 407 and continue the game. When the game is not finished, the counting sensor continuously counts the scores of the first ball inlet 401 and the second ball inlet 402 when the game is still in progress, and when the game is stopped, the counting sensor does not count the scores any more, and data at the end of the countdown is reserved.
In this embodiment, the ball channel 403 is further provided with an electromagnetic valve 406, and the electromagnetic valve 406 is in signal connection with the control assembly 7. When the game starts, the electromagnetic valve 406 is opened, the recovered ball disk 9 can roll to the ball outlet 407 through the ball channel 403 for the player to take, when the game is counted down, the electromagnetic valve 406 is closed, the ball channel 403 is closed, and the recovered ball disk 9 is gathered in the ball channel 403 and does not roll out any more.
As shown in fig. 6, the frame body 1 is further provided with a display screen 6, the display screen 6 is in signal connection with the control component 7, and as shown in fig. 6, the display screen 6 is divided into a first display screen 601, a second display screen 602 and a third display screen 603, which are respectively used for displaying the goal scores and the game countdown of the player and the device. The player can intuitively know the score of the player, the score of the device and the game countdown through the display screen 6.
As shown in fig. 9, the control unit 7 includes:
the image information analysis module 701 is configured to perform a subtraction process on the sampled multi-frame image information and the standard image information to obtain an instantaneous position parameter of the ball disc 9 and an instantaneous position parameter of the striking handle 305;
the track calculation module 702 is configured to calculate a motion track of the ball disc 9 according to the instantaneous position parameter and the sampling period of the ball disc 9, and perform linearization processing on the motion track to obtain an estimated track of the motion of the ball disc 9;
the track judging module 703 is configured to compare the instantaneous position parameter of the ball disc 9 with the estimated track at the last sampling time, judge whether the estimated track is correct, and if not, recalculate the estimated track;
a path calculation module 704, configured to calculate a movement path from the striking handle 305 to the ball disc 9 according to a preset movement speed of the striking handle 305, an instantaneous position parameter of the striking handle 305, and an estimated trajectory;
the motion control module 705 is used for controlling the motion mechanism 3 to move along the X axis and the Y axis, so that the batting handle 305 can strike the ball disc 9.
The standard image is an image photographed when the table top has no ball disc 9 before the game starts, the multi-frame changing image information during the game is processed with the standard image information through a difference image method respectively to obtain the image information of the ball disc 9 and the ball striking handle 305 only, and the coordinate parameters of the ball disc 9 and the ball striking handle 305 on each frame of image are obtained, and the track function of the movement of the ball disc 9 can be obtained because the sampling period of each frame of image is a fixed value. Because of the air suspension function of the air suspension platform 5, the friction force and other resistance of the ball disc 9 and the tabletop can be ignored, and the movement track of the ball disc 9 can be regarded as a linear track. The estimated track (suitable for the calculated track function) of the ball disc 9 can be obtained by extending the track function of the ball disc 9 movement forwards. And comparing the actual track of the ball disc 9 with the estimated track in each sampling period to judge whether the estimated track is correct or not, and if not, recalculating the estimated track, and continuously correcting the estimated track of the ball disc 9 in the mode. Each sampling period calculates a motion path from the striking handle 305 to the ball disc 9 according to a preset moving speed of the striking handle 305, an instantaneous position parameter of the striking handle 305 and the estimated track, and controls the striking handle 305 to move along an X axis and a Y axis by respectively controlling the positive and negative mutual coordination of the two driving motors 301, so that the striking handle 305 strikes the ball disc 9, and the ball disc 9 slides to the first ball inlet 401, thereby achieving the goal of scoring the device ball. To achieve the goal of the striking shaft 305 striking the ball disc 9 into the first ball inlet 401, the striking direction needs to be planned, and when the path of the striking shaft 305 is controlled, the striking shaft 305 is moved first along the X direction and then along the Y direction, so that when the striking shaft 305 strikes the ball disc 9, the force direction of the ball disc 9 is towards the first ball inlet 401.
In this embodiment, the instantaneous position parameter of the disk 9 is the coordinate value of the disk 9 on the air suspension platform 5. The instantaneous position parameter of the striking shaft 305 is the coordinate value of the striking shaft 305 on the air suspension platform 5. The trajectory function of the ball disc 9 can be calculated by the coordinate value of the instantaneous position of the ball disc 9, and the speed of the ball disc 9 can be calculated according to the sampling period and the coordinate value of the instantaneous position of the ball disc 9, thereby facilitating the subsequent calculation of the path between the batting handle 305 and the ball disc 9.
The player stands on one side of the air suspension table surface, which is away from the moving mechanism 3, and pushes out the ball disc 9 towards the ball inlet close to the moving mechanism 3, and the ball disc 9 slides towards the ball inlet along the air suspension table surface; the camera component 2 collects image information of the air suspension platform 5 in a fixed sampling period, the control component 7 carries out differential imaging processing on the sampled multi-frame image information and pre-stored standard image information to obtain instantaneous position parameters of the ball disc 9 and instantaneous position parameters of the ball striking handle 305, then calculates the running track and estimated track of the ball disc 9, calculates the path from the ball striking handle 305 to the ball disc 9, and then controls the movement mechanism 3 to move the ball striking handle 305 along X direction and Y direction so as to hit the ball striking handle 9 back to prevent the ball disc 9 from entering a ball inlet on the own side; after the ball enters the ball inlet, the ball disc recovery mechanism 4 counts the ball inlet number of each ball inlet to obtain the score of the player and the score of the device respectively. Compared with the traditional table-top sand kettle ball device, the device has the advantages that the size is greatly reduced, the occupied area is saved, the device can be placed in public places to serve as public entertainment facilities, the traditional single-person game mode or the man-machine fight mode is updated to the man-machine fight mode, and the interestingness and the competitive performance of the game are enhanced.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The table air suspension sand pot ball device comprises a frame body (1) and an air suspension platform (5) arranged on the frame body (1), wherein a ball disc recovery mechanism (4) is arranged on the air suspension platform (5), and the table air suspension sand pot ball device is characterized in that a movement mechanism (3) is arranged on the air suspension platform (5), one end of the air suspension platform (5) is in a coreXY structure, and a ball striking handle (305) is arranged on the movement mechanism (3); the ball disc recovery mechanism (4) comprises two ball inlets, the two ball inlets are respectively arranged on the air suspension platform (5) and close to the moving mechanism (3) and deviate from the two ends of the moving mechanism (3), the camera assembly (2) is arranged on the upper portion of the frame body (1), the camera assembly (2) faces the air suspension platform (5), the control assembly (7) is arranged on the frame body (1), and the camera assembly (2), the moving mechanism (3) and the ball disc recovery mechanism (4) are respectively in communication connection with the control assembly (7);
the camera component (2) collects image information of the air suspension platform (5);
the motion mechanism (3) moves in the X direction and the Y direction to hit the ball disc (9);
the control component (7) calculates the track of the ball disc (9) through multi-frame image information and controls the batting handle (305) to move to the track of the ball disc (9); specifically, the control assembly (7) comprises:
the image information analysis module (701) is used for performing differential imaging processing on the sampled multi-frame image information and the standard image information to obtain the instantaneous position parameters of the ball disc (9) and the instantaneous position parameters of the batting handle (305);
the track calculation module (702) is used for calculating the motion track of the ball disc (9) through the instantaneous position parameter and the sampling period of the ball disc (9), and carrying out linearization treatment on the motion track to obtain an estimated track of the motion of the ball disc (9);
the track judging module (703) is used for comparing the instantaneous position parameter of the ball disc (9) with the estimated track at the last sampling moment to judge whether the estimated track is correct or not, and if not, recalculating the estimated track;
a path calculation module (704) for calculating a movement path from the striking handle (305) to the ball disc (9) according to a preset movement speed of the striking handle (305), an instantaneous position parameter of the striking handle (305), and the estimated trajectory;
a motion control module (705) for controlling the motion mechanism (3) to move along the X axis and the Y axis, so that the batting handle (305) can strike the ball disc (9);
the ball disc recovery mechanism (4) counts the number of balls entering.
2. A desktop aerosol-pot ball device according to claim 1, characterized in that the movement mechanism (3) comprises two parallel and symmetrically arranged Y-direction guide rails (309) and an X-direction guide rail (310) crossing the two Y-direction guide rails (309), wherein both ends of the X-direction guide rail (310) are provided with first sliding blocks (306), and the first sliding blocks (306) are in sliding connection with the Y-direction guide rails (309); one end of the Y-direction guide rail (309) is provided with a synchronous belt driving wheel (302), a driving motor (301) and a synchronous belt idler wheel (303) at the other end of the Y-direction guide rail, an output shaft of the driving motor (301) is coaxially connected with the synchronous belt driving wheel (302), and two symmetrical smooth idler wheels (304) are respectively arranged at two ends of the X-direction guide rail (310); the ball striking handle (305) is fixedly connected with the synchronous belt (311), a second sliding block (3051) is arranged on the ball striking handle (305), and the second sliding block (3051) is in sliding connection with the X-guide rail (310); the synchronous belt (311) is matched with the synchronous belt driving wheel (302), the synchronous belt idler wheel (303) and the smooth idler wheel (304) to form an H-shaped coreXY structure.
3. A desktop aerosol kettle ball apparatus as claimed in claim 2, wherein both ends of said X-direction guide rail (310) and both ends of said Y-direction guide rail (309) are provided with limit sensors (307), said limit sensors (307) being in signal connection with said control assembly (7).
4. A desktop aerosol kettle ball apparatus as claimed in claim 2, wherein said aerosol platform (5) comprises a transversely disposed table plate (502) and a longitudinally disposed shroud (503), said table plate (502) is rectangular, said table plate (502) is provided with a plurality of longitudinal screen holes (5021), said shroud (503) is disposed around said table plate (502) and is mounted on the edge of said table plate (502), said shroud (503) is fixedly mounted on said frame (1); an air blower (501) is arranged below the table plate (502), and an air outlet of the air blower (501) is fixedly arranged on the bottom surface of the table plate (502); two Y-guide rails (309) are respectively installed outside a pair of coamings (503) arranged in parallel.
5. A desktop aerosol can ball device according to claim 1, wherein the ball disc recovery mechanism (4) comprises a first ball inlet (401), a second ball inlet (402) and a ball channel (403), a ball outlet (407) is arranged at the lower end of the second ball inlet (402), and the ball channel (403) is communicated with the first ball inlet (401) and the ball outlet (407); the ball disc recycling mechanism (4) is further provided with at least two counting sensors, the counting sensors are in communication connection with the control assembly (7), and the counting sensors are used for counting the ball feeding numbers of the first ball feeding port (401) and the second ball feeding port (402) respectively.
6. A desktop aerosol kettle ball apparatus as claimed in claim 5, wherein said ball way (403) is further provided with a solenoid valve (406), said solenoid valve (406) being in signal connection with said control assembly (7).
7. A desktop aerosol can ball device according to claim 1, characterized in that the frame (1) is further provided with a display screen (6), the display screen (6) is in signal connection with the control component (7), and the display screen (6) is used for displaying a goal score and/or a game time.
8. A desktop aerosol kettle ball apparatus as claimed in claim 7, wherein said instantaneous position parameter of said ball disc (9) is a coordinate value of said ball disc (9) at said aerosol platform (5).
9. A desktop aerosol pot ball device according to claim 7, characterized in that the instantaneous position parameter of the striking handle (305) is the coordinate value of the striking handle (305) at the aerosol platform (5).
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| CN201910745989.1A CN110404246B (en) | 2019-08-13 | 2019-08-13 | Desktop air suspension sand pot ball device |
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| CN201910745989.1A CN110404246B (en) | 2019-08-13 | 2019-08-13 | Desktop air suspension sand pot ball device |
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| CN110404246B true CN110404246B (en) | 2024-02-09 |
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| CN112192565A (en) * | 2020-09-16 | 2021-01-08 | 哈尔滨理工大学 | Billiards hitting device with manipulator |
| CN112581523A (en) * | 2020-12-01 | 2021-03-30 | 广东世宇科技股份有限公司 | Method and device for determining ball cake position, electronic equipment and readable storage medium |
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