Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-09-23
2010-11-09
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C473S001000, C473S045000, C901S047000
Reexamination Certificate
active
07831337
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.
REFERENCES:
Long, Robotic Pool: An Experiment in Automatic Potting, Department of Electrical and Computer Engineering, University of Waterlooo, Canada, pp. 1-6.
Alian et al., “Roboshark: a gantry pool player robot”, Computer Eng. Dept, Sharif University of Tech, Tehran, Iran , 5 pages.
Chua et al., “Pool Balls Identification and Calibration for a Pool Robot”, Faculty of Eng. & Tech., Multimedia University, Jalan Ayer Keroh Lama, Melaka, Malaysia, 4 pages.
Larsen et al. “The Automated Pool Trainer—a Multi Modal System for Learning the Game of Pool”, Center for PersonKommunikation, Aalborg University, Aalborg, Denmark, 6 pages.
Sang et al., “Automating Skills Using a Robot Snooker Player”, Dept. of Mech. Eng., University of Bristol, Apr. 1994, 142 pages.
Hill & Schumacher
Schumacher Lynn C.
Sriraman Nikhil
Tran Khoi
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