Method and apparatus for positional error correction in a robotic pool systems using a cue-aligned local camera
First Claim
1. A method of playing pool, comprising the steps of:
- a) acquiring an image of a pool table using a first camera placed above the pool table and positioned that its image plane is substantially parallel to both a playing surface of the pool table and a longitudinal axis of a pool cue and transmitting this image to a computer processing means for analysis, the result of which is a determination of the position and identity of each pool ball on the pool table;
b) said computer processing means planning a shot of a cue ball by the pool cue by calculating a desired position of the pool cue with respect to the cue ball in a pool table frame of reference including a tip position of said pool cue and orientation of the longitudinal axis of the pool cue;
c) said computer processing means instructing said robot connected to said pool cue to position the pool cue to a preferred location from which to place a shot; and
d) said computer processing means instructing the robot to place a shot.
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Abstract
The present invention provides a method and apparatus for accurately positioning a robotic pool-playing device. The system comprises a computer controlled robotic positioning device, such as a gantry robot, that can position a cue over the pool table and place a shot. A global camera is mounted on the ceiling looking down at the table, and the acquired images are transmitted to the computer for analysis to determine the identity and locations of the balls within the table coordinate reference frame. The computer also automatically determines which ball to strike. An aspect of the invention is the use of a local camera, mounted on or near the robotic end-effector in a fixed relationship with the cue, to improve the positioning error of the robotic device prior to placing a shot. By comparing the ball locations perceived from the vantage of the local camera with the known ball locations determined from the global camera image, the invention can calculate the acquired robotic positioning error, which can then be corrected for prior to placing the shot.
52 Citations
20 Claims
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1. A method of playing pool, comprising the steps of:
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a) acquiring an image of a pool table using a first camera placed above the pool table and positioned that its image plane is substantially parallel to both a playing surface of the pool table and a longitudinal axis of a pool cue and transmitting this image to a computer processing means for analysis, the result of which is a determination of the position and identity of each pool ball on the pool table;
b) said computer processing means planning a shot of a cue ball by the pool cue by calculating a desired position of the pool cue with respect to the cue ball in a pool table frame of reference including a tip position of said pool cue and orientation of the longitudinal axis of the pool cue;
c) said computer processing means instructing said robot connected to said pool cue to position the pool cue to a preferred location from which to place a shot; and
d) said computer processing means instructing the robot to place a shot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of playing pool, comprising the steps of;
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a) acquiring an image of a pool table using a camera mounted on the robotic end-effector so that its image plane is substantially perpendicular to a longitudinal axis of the pool cue, the position of said camera being fixed with respect to the longitudinal axis of the pool cue, transmitting the image to a computer processing means for analysis, the result of which is a determination of the position and identity of each ball on the pool table within this image within a frame of reference of the camera, and correcting for any errors based upon the relative position of the cue axis and the cue ball;
b) said computer processing means planning a shot of a cue ball by the pool cue by calculating a desired position of the cue with respect to the cue ball; and
c) said computer processing means instructing the robot connected to said pool cue to place a shot.
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13. An apparatus for playing pool, comprising;
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a) a robot having a robotic arm with an end effector, the robot mounted on a gantry for movement above a pool table, a pool cue attached to the end-effector, the pool cue having a longitudinal axis;
b) image capturing means mounted above the pool table for acquiring an image of the pool table and positioned such that its image plane is substantially parallel to both a playing surface of the pool table and said longitudinal axis of said pool cue;
c) a computer processing means connected to said image capturing means for analysis of the images transmitted thereto from the image capturing means, the computer processing means including means for determining a position and identity of each pool ball on the pool table within this image within a frame of reference of the image capturing means, and including means for correcting for any errors based upon the relative position of the cue axis and the cue ball, said computer processing means including means for planning a shot of a cue ball by the pool cue by calculating a desired position of the cue with respect to the cue ball; and
d) a robotic controller connected to said computer processing means for instructing the robot to place pool shots with the cue. - View Dependent Claims (14, 15, 16, 17)
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18. An apparatus for playing pool, comprising;
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a) a robot having a robotic arm with an end effector, the robot mounted on a gantry for movement above a pool table, a pool cue attached to the end-effector, the cue having a longitudinal axis;
b) image capturing means mounted on the robotic end-effector so that its image plane is substantially perpendicular to a longitudinal axis of the pool cue for capturing an image of a pool table using a camera, the position of said camera being fixed with respect to the longitudinal axis of the pool cue, c) a computer processing means for analysis of the images transmitted thereto from the image capturing means, the result of which is a determination of the position and identity of each ball on the pool table within this image within a frame of reference of the camera, and correcting for any errors based upon the relative position of the cue axis and the cue ball, said computer processing means planning a shot of a cue ball by the pool cue by calculating a desired position of the cue with respect to the cue ball; and
d) a robotic controller connected to said computer processing means for instructing the robot to place pool shots with the cue. - View Dependent Claims (19, 20)
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Specification