CN113046982B - Intelligent table scanning and ironing equipment for billiard table and table top processing method - Google Patents

Intelligent table scanning and ironing equipment for billiard table and table top processing method Download PDF

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Publication number
CN113046982B
CN113046982B CN202110501895.7A CN202110501895A CN113046982B CN 113046982 B CN113046982 B CN 113046982B CN 202110501895 A CN202110501895 A CN 202110501895A CN 113046982 B CN113046982 B CN 113046982B
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ironing
information
robot
scanning
table top
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CN113046982A (en
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田勇
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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06G—MECHANICAL OR PRESSURE CLEANING OF CARPETS, RUGS, SACKS, HIDES, OR OTHER SKIN OR TEXTILE ARTICLES OR FABRICS; TURNING INSIDE-OUT FLEXIBLE TUBULAR OR OTHER HOLLOW ARTICLES
    • D06G1/00—Beating, brushing, or otherwise mechanically cleaning or pressure cleaning carpets, rugs, sacks, hides, or other skin or textile articles or fabrics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
    • D06C15/00—Calendering, pressing, ironing, glossing or glazing textile fabrics
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
    • D06C15/00—Calendering, pressing, ironing, glossing or glazing textile fabrics
    • D06C15/08—Rollers therefor
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
    • D06C15/00—Calendering, pressing, ironing, glossing or glazing textile fabrics
    • D06C15/10—Calendering, pressing, ironing, glossing or glazing textile fabrics between flat plates of a press
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
    • A63D15/00—Billiards, e.g. carom billiards or pocket billiards; Billiard tables
    • A63D15/04—Billiard tables convertible into other tables, or the like

Abstract

The invention discloses an intelligent table scanning and ironing device for a billiard table and a table surface processing method thereof, wherein the intelligent table scanning and ironing device comprises a table scanning and ironing robot and a robot control system; the platform scanning and ironing robot comprises a mini trolley, a cleaning module and an ironing module; the robot control system is used for detecting the current color information of the table top and comparing the current color information with the preset color information to obtain first result information; or/and the table surface scanning and ironing robot is used for acquiring current image information of the table surface, comparing the current image information with a preset reference image to obtain second result information, and sending a first control signal to the table surface scanning and ironing robot according to the first result information or/and the second result information; the robot control system is also used for detecting the flatness information of the table top and sending a second control signal to the table scanning and ironing robot according to the flatness information; the invention does not need manual operation, saves time and labor, and has the characteristics of cleaner sweeping and better ironing effect.

Description

Intelligent table scanning and ironing equipment for billiard table and table surface treatment method
Technical Field
The invention relates to intelligent table scanning and ironing equipment for a billiard table and a table top processing method.
Background
Sweep a platform and press the platform and be the routine maintenance operation of billiard table, the tradition is that artifical handheld brush or electric iron cleans and presses the mesa, cleans and presses and need separately go on, and is more consuming time power, still has simultaneously to clean unclean phenomenon to dynamics is held inaccurately when reaching artifical the press, makes the effect of mesa press not good.
Disclosure of Invention
The invention aims to overcome the defects and provide intelligent table scanning and ironing equipment for a billiard table and a table top treatment method.
In order to achieve the purpose, the invention adopts the following specific scheme:
an intelligent table scanning and ironing device for a billiard table comprises a table scanning and ironing robot and a robot control system;
the platform sweeping and ironing robot comprises a mini trolley, a sweeping module and an ironing module, wherein the sweeping module and the ironing module are correspondingly arranged on the mini trolley;
the robot control system is used for detecting the current color information of the table top and comparing the current color information with preset color information to obtain first result information; or/and the table surface scanning and ironing robot is used for acquiring current image information of the table surface, comparing the current image information with a preset reference image to obtain second result information, and sending a first control signal to the table surface scanning and ironing robot according to the first result information or/and the second result information; the first control signal comprises whether a table scanning and ironing robot cleans the table top or not;
the robot control system is also used for detecting the flatness information of the table top and sending a second control signal to the table scanning and ironing robot according to the flatness information; the second control signal comprises whether the table surface is ironed by the table scanning ironing robot or not.
Further, the robot control system comprises a camera and a computer; the camera is used for collecting video image information comprising the table top and a sphere on the table top; the computer is used for analyzing the video image information to obtain the first result information or/and the second result information and sending a first control signal to the table scanning and ironing robot according to the first result information or/and the second result information; the computer is also used for analyzing the video image information to obtain the flatness information and sending a second control signal to the table scanning and ironing robot according to the flatness information.
Further, the computer analyzes the video image information to obtain a current acceleration value when the ball on the table surface rolls, and compares the current acceleration value with a preset acceleration value to obtain the flatness information.
The computer analyzes the pose information to obtain second position information and direction information of the table scanning and ironing robot, and controls the table scanning and ironing robot to move according to the second position information and the direction information.
Further, the computer controls the table scanning and ironing robot to move through a visual servo technology.
Further, the computer is integrated in the camera.
Furthermore, the camera is arranged on the table sweeping and ironing robot.
Further, the robot control system is connected with the table scanning and ironing robot in a wired mode or a wireless mode.
The invention further provides the cleaning module which comprises a mechanical arm and a cleaning tool connected to the mechanical arm.
The invention has the beneficial effects that: according to the table-sweeping and ironing robot, the table-sweeping and ironing robot is matched with the robot control system, so that automatic table-sweeping and ironing operation of the table top is realized, manual operation is not needed, the table-sweeping and ironing tables can operate simultaneously, time and labor are saved, and compared with manual identification of cleanliness and flatness, the table-sweeping and ironing robot has the characteristics of being cleaner in sweeping and better in ironing effect.
The invention also provides a table board processing method using the intelligent table scanning and ironing equipment, which comprises the following steps:
acquiring current color information or/and current image information of the table top and flatness information of the table top through a robot control system;
comparing the current color information with preset color information to obtain first result information, or/and comparing the current image information with a preset reference image to obtain second result information;
sending a first control signal to a table-scanning ironing robot according to the first result information or/and the second result information or/and sending a second control signal to the table-scanning ironing robot according to the flatness information;
and when the table sweeping and ironing robot receives the first control signal or/and the second control signal, the table sweeping and ironing robot carries out sweeping and/or ironing operation on the table top.
The beneficial effects of the invention are as follows: the table board processing method of the invention realizes the automatic table board sweeping and ironing operation of the table board without manual operation, and the table board sweeping and ironing can be operated simultaneously, thereby saving time and labor, and compared with the manual identification of cleanliness and flatness, the table board processing method has the characteristics of cleaner sweeping and better ironing effect.
Drawings
FIG. 1 is a schematic diagram of a structure provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of a robot control system integrated on a table-scanning ironing robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a table scanning and ironing robot provided in an embodiment of the present invention;
description of reference numerals: 1. a table sweeping and ironing robot; 11. a mini-car; 12. a cleaning module; 121. a mechanical arm; 122. a cleaning tool; 13. an ironing module; 2. a robot control system; 21. a camera; 22. and (4) a computer.
Detailed Description
The present invention will be described in further detail with reference to the drawings and specific examples, which should not be construed as limiting the scope of the invention.
As shown in fig. 1 to 3, an intelligent table scanning and ironing device for a billiard table according to the present embodiment includes a table scanning and ironing robot 1 and a robot control system 2;
the platform sweeping and ironing robot 1 comprises a mini-trolley 11, and a sweeping module 12 and an ironing module 13 which are correspondingly arranged on the mini-trolley 11;
the robot control system 2 is used for detecting current color information of the table top and comparing the current color information with preset color information to obtain first result information; or/and the table scanning and ironing robot is used for acquiring current image information of the table top, comparing the current image information with a preset reference image to obtain second result information, and sending a first control signal to the table scanning and ironing robot 1 according to the first result information or/and the second result information; the first control signal comprises whether the table sweeping and ironing robot 1 cleans the table top or not; the preset color information is table top initial color value preset by a user, and can be RGB information corresponding to the table top initial color, and the user can recognize and set the table top according to the color of the actual table top; the preset reference image is initial image information of the table top of the billiard table which is not used and is in a clean and flat state;
the robot control system 2 is also used for detecting flatness information of the table top and sending a second control signal to the table scanning and ironing robot 1 according to the flatness information; the second control signal comprises whether the table sweeping and ironing robot 1 irons the table top or not.
In actual use, the robot control system 2 detects whether the current color information of the table top is the same as the preset color information, if the current color information of the table top is the same as the preset color information, the first result information is that the table top is clean, if the current color information of the table top is different from the preset color information, the first result information is that the table top needs to be cleaned, and at the moment, the robot control system 2 uses the table top color information as a detection object, for example, if a dirty area of the table top is detected to be an area different from a normal color of the table top, for example, the normal color of the snooker table top is green, and a blue or black local area is seen, the table top can be judged to need to be cleaned, or the dirty area of the table top can be detected to be different from the whole color of the table top, or different from the color of a peripheral area, for example, a certain local area is also green, but the color of the whole table top or the peripheral area is white; the robot control system 2 may also detect whether the current image information and the predetermined reference image have a color difference region, and determine a position of a dirty region of the table top, if so, the second result information indicates that the table top needs to be cleaned, otherwise, the table top is clean; certainly, the robot control system 2 can use the table color information and the table image as the detection objects at the same time to more accurately position the dirty area of the table;
then the robot control system 2 sends a first control signal to the table-sweeping ironing robot 1 according to the first result information or/and the second result information, when the table surface needs to be cleaned, the robot control system 2 controls the table-sweeping ironing robot 1 to work through the first control signal, the mini-trolley 11 drives the cleaning module 12 to move to a dirty area, and then the cleaning module 12 performs cleaning operation on the dirty area;
meanwhile, when a dirty area of the table top is detected, the robot control system 2 synchronously detects flatness information of the table top to determine whether the table top has an uneven area, if the table top has the uneven area, the robot control system 2 controls the table sweeping and ironing robot 1 to work through a second control signal, so that the mini trolley 11 drives the ironing module 13 to move to the uneven area, then the ironing module 13 performs ironing operation on the uneven area, and the ironing strength is accurately controlled according to the uneven degree;
of course, when the uneven area and the dirty area are located at the same position, the cleaning module 12 and the ironing module 13 can perform cleaning and ironing operations at the same time.
This embodiment presses a platform robot 1 and robot control system 2 cooperation through sweeping the platform, realizes sweeping the platform to the automation of mesa and presses a platform operation, need not manual operation, and sweep the platform and press the platform can the simultaneous working, and labour saving and time saving compares in artifical discernment cleanliness factor and roughness, has and cleans cleaner and presses the better characteristics of effect.
In this embodiment, the cleaning module 12 may be in the form of a rotating brush, a rotating broom, a vacuum cleaner, or a combination of various forms; the ironing module 13 can be in the form of a roller, a crawler, a flat-towed or the like, or in combination of a plurality of forms; ironing generally uses both pressure and elevated temperature, and may also be done by pressure alone.
In this embodiment, sweep a platform and press a robot 1 can set up on the mesa, certainly also can set up subaerial, it can with have fixed or semi-unable adjustment base's manipulator cooperation, the base of manipulator can be installed on ball table border, ground, wall, ceiling, ball table lamp, the mounting means can be fixed completely, also can adopt the mode that removes along the slide rail, sets up according to actual design needs.
Based on the above embodiment, further, the robot control system 2 includes a camera 21 and a computer 22; the camera 21 is used for collecting video image information including a table top and a sphere on the table top; the computer 22 is configured to analyze the video image information to obtain the first result information or/and the second result information, and send a first control signal to the table scanning and ironing robot 1 according to the first result information or/and the second result information; the computer 22 is further configured to analyze the video image information to obtain the flatness information, and send a second control signal to the table scanning and ironing robot 1 according to the flatness information. In this embodiment, the camera 21 may be an industrial camera, a network camera, a monitoring camera, a camera equipped in the computer, or the like; the computer 22 generally refers to a device with a computing function, and may be an industrial personal computer, a desktop computer, a notebook computer, a tablet computer, an embedded system, a single chip microcomputer, a computing chip, a smart phone, a smart television, a smart camera, and a processor thereof.
Specifically, in the embodiment, a visual technology is used for detecting a dirty area or/and an uneven area of the table top, and locally cleaning and ironing the dirty area or/and the uneven area, the table top can be identified by the camera 21, the identified video image information is fed back to the computer 22, the computer 22 performs a comparison analysis on the identified video image information and predetermined color information or/and a predetermined reference image to obtain first result information or/and second result information, the first result information and the second result information can be respectively the table top is clean or the table top needs to be cleaned, then the computer 22 sends a first control signal to the table ironing robot 1 according to the first result information or/and the second result information, the table ironing robot 1 receives the first control signal, and then the mini-trolley 11 cleans and drives the module 12 and the ironing module 13 to move to the dirty area or/and the uneven area, and cleans or/and irons the dirty area or/and the uneven area, so as to achieve a high-efficiency and a good intelligent cleaning and ironing effect.
Based on the above embodiment, further, the computer 22 obtains a current acceleration value of the ball rolling on the table top according to the video image information, and compares the current acceleration value with a predetermined acceleration value to obtain the flatness information. Specifically, when the ball freely rolls on the table top (without being hit by a club, colliding with other balls, colliding with the edge of a warehouse, etc.), the ball is subject to rolling friction force from the table top, the ball should be in uniform deceleration motion, the camera 21 continuously collects video image information of each ball and feeds the video image information back to the computer 22, and the computer 22 analyzes and tracks the motion track of each ball according to the video image information, so that whether each ball is in a free rolling period can be judged, for example, each frame speed (including speed and direction) of a certain freely rolling ball is calculated, when the speed direction of two adjacent frames (or several frames) is changed or the reduction value of the speed is not in an expected range (the expected range includes an ideal value, the expected value can be a theoretical value or can be calculated from the motion track of the ball), it can be judged that the table top area where the ball is located is uneven or/and foreign matter exists, and cleaning or/or ironing is required;
wherein the expected value of the rate change is calculated as follows: assuming that the rolling friction coefficient of the table top and the ball is known to be u (reference value 0.008) and the gravity acceleration is g (reference value 9.8 m/s 2), the acceleration a = -ug of the ball rolling freely is obtained. Assuming that the current velocity of the sphere is v0, the velocity vt after the time t is calculated by the following formula: vt = v0+ at = v0-ugt; so that it can be judged whether the decrease value of the velocity of the sphere is within the expected range.
Based on the above embodiment, further, the camera 21 is further configured to identify pose information of the table-scanning ironing robot 1, and the computer 22 analyzes the pose information to obtain second position information and direction information of the table-scanning ironing robot 1, and controls the table-scanning ironing robot 1 to move according to the second position information and the direction information.
Specifically, in the embodiment, by using a robot hand-eye calibration technology, the information such as the current position and direction of the table-scanning ironing robot 1 is determined by analyzing the pose information of the table-scanning ironing robot 1, so as to accurately control the moving track and moving speed of the table-scanning ironing robot 1, and thus, the cleaning module 12 and the ironing module 13 are used for cleaning or/and ironing a dirty area or/and an uneven area; meanwhile, the position information of the ball on the table top and the position information of the personnel are fed back through the camera 21, so that the table sweeping and ironing robot 1 can actively move to a position which does not influence the observation and batting of a player or a trainer, and can actively avoid other balls in the moving process; and the computer 22 can also be arranged to predict the movement track of the ball after a player or a trainer strikes the ball through the video image information fed back by the camera 21, so as to control the table scanning ironing robot 1 to carry out active avoidance.
Based on the above embodiment, further, the computer 22 controls the table-scanning ironing robot 1 to move through a visual servo technique. The mapping relation between the space coordinate system and the image coordinate system of the platform sweeping and ironing robot 1 is established by utilizing the visual perception capability of the camera 21, and then the speed of the platform sweeping and ironing is accurately controlled to move to a dirty area or/and an uneven area, so that the dirty area or/and the uneven area is/are accurately cleaned or/and ironed, and the cleaning effect and the ironing effect are guaranteed.
Based on the above embodiment, further, the computer 22 is integrated in the camera 21. In this embodiment, the camera 21 is disposed on the table scanning and ironing robot 1. So set up, reduce overall structure's the volume that occupies, more adapt to cleaning and ironing operation of billiard table, realize sweeping platform and press the autonomic control of platform robot 1, the structure is more nimble.
Based on the above embodiment, further, the robot control system 2 is connected to the table scanning and ironing robot 1 in a wired manner or a wireless manner. Specifically, the robot control system 2 may adopt wired modes such as an electric wire, a network cable, and a USB connection line, and may also adopt wireless modes such as infrared, bluetooth, and WiFi.
Based on the above embodiment, the cleaning module 12 further includes a robot arm 121 and a cleaning tool 122 connected to the robot arm 121. Specifically, the mechanical arm 121 is arranged to flexibly drive the cleaning tool 122 to move, so that the dirty area is cleaned, and the structural flexibility is high.
As shown in fig. 1 to fig. 3, based on the above-mentioned intelligent table scanning and ironing device, this embodiment further provides a table top processing method, including the following steps:
in the step S1, the current color information or/and the current image information of the table top and the flatness information of the table top are obtained through the robot control system 2; in this step, the camera 21 can be used to synchronously acquire the current color information, the current image information and the flatness information of the table top, and the data are fed back to the computer 22; of course, the camera 21 may also be set to only obtain the current color information and the flatness information, or the camera 21 may also be set to only obtain the current image information and the flatness information; the user can select according to the actual design requirement;
in step S2, the computer 22 is used to compare the current color information with the preset color information to obtain first result information, or/and the current image information is compared with a preset reference image to obtain second result information; the first result information and the second result information can be respectively the table top is clean or the table top needs to be clean; the flatness information is that the table top is flat or not flat;
in step S3, a first control signal is sent to the table-scanning ironing robot 1 according to the first result information or/and the second result information or/and a second control signal is sent to the table-scanning ironing robot 1 according to the flatness information; the first control signal comprises whether the table sweeping and ironing robot 1 cleans the table top or not, and the second control signal comprises whether the table sweeping and ironing robot 1 irones the table top or not;
in step S4, the table sweeping and ironing robot 1 performs the sweeping and/or ironing operation on the table top when receiving the first control signal or/and the second control signal.
In actual use, the robot control system 2 detects whether the current color information of the table top is the same as the preset color information, if the current color information of the table top is the same as the preset color information, the first result information is that the table top is clean, if the current color information of the table top is different from the preset color information, the first result information is that the table top needs to be cleaned, and at the moment, the robot control system 2 uses the table top color information as a detection object, for example, if a dirty area of the table top is detected to be an area different from a normal color of the table top, for example, the normal color of the snooker table top is green, and a blue or black local area is seen, the table top can be judged to need to be cleaned, or the dirty area of the table top can be detected to be different from the whole color of the table top, or different from the color of a peripheral area, for example, a certain local area is also green, but the color of the whole table top or the peripheral area is white; the robot control system 2 may also detect whether the current image information and the predetermined reference image have a color difference region, and determine a position of a dirty region of the table top, if so, the second result information indicates that the table top needs to be cleaned, otherwise, the table top is clean; certainly, the robot control system 2 can use the table color information and the table image as the detection objects at the same time to more accurately position the dirty area of the table;
then the robot control system 2 sends a first control signal to the table-sweeping ironing robot 1 according to the first result information or/and the second result information, when the table surface needs to be cleaned, the robot control system 2 controls the table-sweeping ironing robot 1 to work through the first control signal, the mini-trolley 11 drives the cleaning module 12 to move to a dirty area, and then the cleaning module 12 performs cleaning operation on the dirty area;
meanwhile, when a dirty area of the table top is detected, the robot control system 2 synchronously detects flatness information of the table top to determine whether the table top has an uneven area, if so, the robot control system 2 controls the table sweeping and ironing robot 1 to work through a second control signal, so that the mini trolley 11 drives the ironing module 13 to move to the uneven area, and then the ironing module 13 performs ironing operation on the uneven area;
of course, when the uneven area and the dirty area are located at the same position, the cleaning module 12 and the ironing module 13 can perform cleaning and ironing operations at the same time.
Utilize the mesa processing method of this embodiment, realize sweeping the platform automatically and ironing the platform operation, need not manual operation to the mesa, and sweep the platform and iron the platform and can the simultaneous working, labour saving and time saving compares in artifical discernment cleanliness factor and roughness, has and cleans cleaner and flattens the better characteristics of effect.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.

Claims (7)

1. An intelligent table scanning and ironing device for a billiard table is characterized by comprising a table scanning and ironing robot (1) and a robot control system (2);
the table sweeping and ironing robot (1) comprises a mini trolley (11), and a sweeping module (12) and an ironing module (13) which are correspondingly arranged on the mini trolley (11);
the robot control system (2) is used for detecting current color information of the table top and comparing the current color information with preset color information to obtain first result information; or/and the table surface scanning and ironing robot is used for acquiring current image information of the table surface, comparing the current image information with a preset reference image to obtain second result information, and sending a first control signal to the table surface scanning and ironing robot (1) according to the first result information or/and the second result information; the first control signal comprises whether the table scanning and ironing robot (1) cleans the table top or not;
the robot control system (2) is also used for detecting flatness information of the table top and sending a second control signal to the table scanning and ironing robot (1) according to the flatness information; the second control signal comprises whether the table sweeping and ironing robot (1) irons the table top or not;
the robot control system (2) comprises a camera (21) and a computer (22); the camera (21) is used for collecting video image information comprising a table top and a sphere on the table top; the computer (22) is used for analyzing the video image information to obtain the first result information or/and the second result information, and sending a first control signal to the table scanning ironing robot (1) according to the first result information or/and the second result information; the computer (22) is also used for analyzing the video image information to obtain the flatness information and sending a second control signal to the table scanning and ironing robot (1) according to the flatness information;
the computer (22) analyzes the video image information to obtain the current acceleration value of the ball body on the table surface when the ball body rolls, and compares the current acceleration value with the preset acceleration value to obtain the flatness information;
the camera (21) is further used for identifying pose information of the table scanning and ironing robot (1), the computer (22) analyzes the pose information to obtain second position information and direction information of the table scanning and ironing robot (1), and the table scanning and ironing robot (1) is controlled to move according to the second position information and the direction information.
2. An intelligent scanning ironing device for a billiard table according to claim 1, wherein the computer (22) controls the scanning ironing robot (1) to move through visual servo technology.
3. An intelligent scanning ironing apparatus for a billiard table according to claim 1, wherein the computer (22) is integrated into the camera (21).
4. An intelligent table sweeping and ironing device for a billiard table as claimed in claim 3, wherein the camera (21) is provided on the table sweeping and ironing robot (1).
5. An intelligent scanning and ironing device for a billiard table according to claim 1, wherein the robot control system (2) is connected with the scanning and ironing robot (1) in a wired or wireless manner.
6. An intelligent sweeping and ironing table apparatus for a billiard table according to claim 1, wherein the sweeping module (12) includes a robotic arm (121) and a sweeping implement (122) connected to the robotic arm (121).
7. A table top processing method of the intelligent table scanning and ironing equipment as claimed in any one of claims 1 to 6, which comprises the following steps:
acquiring current color information or/and current image information of the table top and flatness information of the table top through a robot control system (2);
comparing the current color information with preset color information to obtain first result information, or/and comparing the current image information with a preset reference image to obtain second result information;
sending a first control signal to the table-scanning ironing robot (1) according to the first result information or/and the second result information or/and sending a second control signal to the table-scanning ironing robot (1) according to the flatness information;
when the table sweeping and ironing robot (1) receives the first control signal or/and the second control signal, the table sweeping and ironing operation is carried out on the table top.
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CN103717469A (en) * 2011-07-20 2014-04-09 株式会社普利司通 Road surface condition estimation method, and road surface condition estimation device
CN104824994A (en) * 2015-05-29 2015-08-12 安庆市德创机电产品设计有限公司 Countertop device with self-cleaning function
CN108722939A (en) * 2018-05-21 2018-11-02 谢震东 A kind of billiard table with cleaning function
CN110409156A (en) * 2019-08-30 2019-11-05 北京小米移动软件有限公司 Ironing equipment, ironing clothes method and apparatus
CN110673141A (en) * 2019-10-31 2020-01-10 四川九洲空管科技有限责任公司 Mobile airport pavement foreign matter detection method and system
CN111733743A (en) * 2020-06-17 2020-10-02 广州赛特智能科技有限公司 Automatic cleaning method and cleaning system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103717469A (en) * 2011-07-20 2014-04-09 株式会社普利司通 Road surface condition estimation method, and road surface condition estimation device
CN102560996A (en) * 2011-12-13 2012-07-11 深圳和而泰智能控制股份有限公司 Automatic electric steam iron
CN104824994A (en) * 2015-05-29 2015-08-12 安庆市德创机电产品设计有限公司 Countertop device with self-cleaning function
CN108722939A (en) * 2018-05-21 2018-11-02 谢震东 A kind of billiard table with cleaning function
CN110409156A (en) * 2019-08-30 2019-11-05 北京小米移动软件有限公司 Ironing equipment, ironing clothes method and apparatus
CN110673141A (en) * 2019-10-31 2020-01-10 四川九洲空管科技有限责任公司 Mobile airport pavement foreign matter detection method and system
CN111733743A (en) * 2020-06-17 2020-10-02 广州赛特智能科技有限公司 Automatic cleaning method and cleaning system

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