TWM626763U - Dual robotic arm card dealing system - Google Patents

Abstract

This creation is a dual robotic arm card distribution system, which performs a card opening program for a plurality of playing cards in a game, which includes a card distribution table, a card surface recognition module, a first robotic arm, and a second robotic arm. and a controller, wherein the controller sequentially generates a plurality of card opening threads according to the progress of the game, and the controller selects any one of the first robot arm and the second robot arm to execute the plurality of card opening threads in sequence , and is used in conjunction with the card dealing table and the card face recognition module to complete the card opening procedure. Accordingly, the present invention can make the first robotic arm and the second robotic arm operate at the same time and use each other as backup, so the card opening process can be accelerated and when a single arm fails, the card can still be dealt. The game is completed to reduce controversy and increase the credibility of the game.

Description

Double robotic arm licensing system

The present creation is related to a poker game, especially a card dealing system of a poker game.

The poker game has a variety of gameplays. Before the game starts, the shuffling operation must be performed to fully scramble the cards and provide unpredictable card faces to avoid the problem of artificial cheating. It is known that the shuffling operation is mostly handled by manual shuffling, and then the dealers are used to manually deal the cards, which is costly and prone to the risk of artificial cheating.

Therefore, in order to reduce the use of manpower and prevent the possibility of cheating, for example, Chinese Patent No. CN 101125250 B, which discloses an automatic card issuing method, uses a robotic arm to issue cards, and uses a detector to identify the cards noodle. Another example is the US Patent No. 9,931,562 B2, which discloses a card-distributing device with two card-distributing arms. The card-distributing arms can simulate a real person dealing cards, so that players have a more realistic feeling.

Although the above-mentioned card distribution display device eliminates the problem of artificial cheating, the card distribution process using a single mechanical arm is relatively long, and cannot meet the use requirements for the speed of card distribution. The licensing device with the licensing arms is mainly used to simulate the real person licensing. Although the licensing arms can operate synchronously to deal the licensing, the licensing arms are set on the same main body. Once the main body is damaged, it cannot be used. When in operation, the licensing arms will be inoperable at the same time.

Therefore, the main purpose of this creation is to disclose a dual robotic arm card distribution system, which performs a card opening process for a plurality of playing cards in a game, which includes a card distribution table, a card surface recognition module, and a first machine. arm, a second robotic arm and a controller, the card dealing table has a and an unused card shoe for placing the plurality of playing cards that have not undergone the opening procedure, and a used card shoe for placing the plurality of playing cards that have completed the opening procedure. That is, the plurality of playing cards that have completed the opening procedure will be changed from the unused card shoe to the used card shoe.

The card face identification module is arranged on the card dealing table, and the card face identification module has an identification plane, and the card face identification module is used to identify the card face of the playing card moved to the identification plane. In one embodiment, the identification plane is transparent glass, and an image capture device is embedded therein, which can capture the card face images of the plurality of playing cards, so that the card face recognition module analyzes the images for identification.

The first robotic arm is disposed on the card-dealing table, and the first robotic arm has a first suction nozzle and a first link mechanism, in one embodiment. The first link mechanism includes a swivel base and a plurality of single-arm rods. The plurality of single-arm rods are pivotally connected head to tail and one end is pivotally connected to the swivel base. Therefore, the difference between the swivel base and the single-arm rods is different from that of the swivel base. Both the single-arm levers have the degree of freedom of rotation, the first suction nozzle is arranged on one side of the first link mechanism, and the first link mechanism drives the first suction nozzle to move to carry out the card opening The program also has a first path of dealing and receiving cards. Specifically, the first card sending and receiving path moves from the unused card shoe to the identifying plane, and then moves from the identifying plane to the used card shoe. And when the first suction nozzle moves to the unused card shoe, in order to suck one of the playing cards in the unused card shoe, and move the sucked playing card to the identifying plane to identify the card surface, And when the first suction nozzle moves to the used card shoe, the sucked playing card is placed in the used card shoe.

The second robotic arm has the same structure as the first robotic arm. In detail, the second robotic arm is disposed on the card dealing table, and the second robotic arm has a second suction nozzle and a second link a mechanism, the second link mechanism drives the second suction nozzle to move to perform the card opening process and has a second card sending and receiving path, the second card sending and receiving path is moving from the unused card shoe to the identification plane , and then move from the identification plane to the used shoe, and the second suction nozzle moves to the unused When the card shoe is used, in order to suck a playing card located in the unused card shoe, and move the sucked playing card to the identification plane to identify the card surface, and move the second suction nozzle to the used card When the card shoe is opened, the sucked playing card is placed in the used card shoe.

The controller is connected to the first robotic arm and the second robotic arm, and the controller sequentially generates a plurality of card opening threads according to the progress of the game, and the controller selects the first robotic arm and the second robotic arm Execute the plurality of opening threads in sequence to complete the opening procedure.

Accordingly, in the present invention, by letting the controller select any one of the first robotic arm and the second robotic arm to perform the plurality of card opening threads in sequence, the first robotic arm and the second robotic arm can be simultaneously It operates to deal cards to speed up the deal. At the same time, when one robot arm is damaged and fails, the other robot arm can continue to deal cards to complete the game, so as to reduce disputes and increase the credibility of the game.

10: Dealing table

11: Unused card box

12: Used card box

13: Turntable

20: Card face recognition module

21: Identify the plane

30: The first robotic arm

31: The first nozzle

32: The first link mechanism

40: Second robotic arm

41: Second nozzle

42: The second link mechanism

50: Controller

51: Opening Thread

51A: Player's first card opening thread

51B: Banker's first card opening thread

51C: Player's second card opening thread

51D: The dealer's second card opens the thread

60: Poker

Figure 1 is a schematic diagram of the new three-dimensional structure.

Figure 2 is a block diagram of the new system.

Fig. 3 is a flow chart of the new card opening process implemented in baccarat.

FIG. 4 is a sequence diagram of the action of the new robotic arm implemented in the baccarat game.

In order to enable your members to have a more in-depth understanding and recognition of the features, purposes and effects of this creation, the preferred embodiments are listed and described with the drawings as follows: please refer to "Figure 1" and "Figure 2". It is a double robot arm card distribution system, which performs a card opening procedure for a plurality of playing cards in a game, which includes a card distribution table 10, a card surface identification Identifying the module 20, a first robotic arm 30, a second robotic arm 40 and a controller 50, the card dealing table 10 has an unused card shoe 11 and a used card shoe 12, the unused card shoe 11 The used card shoe 12 is used for placing the plurality of playing cards 60 that have not undergone the opening process, and the used card shoe 12 is used to place the plurality of playing cards 60 that have completed the opening process. That is, the plurality of playing cards 60 that have completed the card opening process will be re-placed from the unused card shoe 11 to the used card shoe 12 . In practice, the unused card shoe 11 and the used card shoe 12 will each be set two, and set on a rotating table 13, when a group of the unused card shoe 11 and the used card shoe 12 are being used. When in use, the unused card shoe 11 and the used card shoe 12 of the other group can be automatically shuffled by an automatic card shuffling machine (not shown).

Two card face recognition modules 20 are provided, which are adjacent to the first robot arm 30 and the second robot arm 40 respectively, and are disposed on the card dealing table 10 , and the card face recognition module 20 has a recognition The plane 21, the card face recognition module 20 is used to identify the card face of the playing card 60 moved to the recognition plane 21. In one embodiment, the identification plane 21 is a transparent glass, and an image capture device (not shown) is built in, which can capture the card face images of the plurality of playing cards 60 so that the card face recognition module 20 can analyze the images. Then, the face of the plural playing cards 60 is recognized.

The first robot arm 30 is disposed on the card dealing table 10, and the first robot arm 30 has a first suction nozzle 31 and a first link mechanism 32, in one embodiment. The first link mechanism 32 includes a swivel base and a plurality of single-arm rods. The plurality of single-arm rods are pivotally connected head-to-tail and one end is pivotally connected to the swivel base. Therefore, between the swivel base and the single-arm rods And the different single-arm rods have degrees of freedom of rotation respectively, the first suction nozzle 31 is arranged on one side of the first link mechanism 32 , and the first link mechanism 32 drives the first suction nozzle 31 Move to carry out the card opening procedure and have a first path for dealing and collecting cards. In detail, the first card sending and receiving path is to move from the unused card shoe 11 to the identification plane 21 , and then from the identification plane 21 to the used card shoe 12 . When the first suction nozzle 31 moves to the unused card shoe 11, in order to suck a playing card 60 located in the unused card shoe 11, The picked playing card 60 is moved to the identification plane 21 to identify the card surface, and when the first suction nozzle 31 is moved to the used card shoe 12, the sucked playing card 60 is placed in the used card shoe within 12.

The second robotic arm 40 has the same structure as the first robotic arm 30 . Specifically, the second robotic arm 40 is disposed on the card dealing table 10 , and the second robotic arm 40 has a second suction nozzle 41 and a second link mechanism 42, the second link mechanism 42 drives the second suction nozzle 41 to move to perform the card opening process and has a second card sending and receiving path, the second card sending and receiving path is from the The unused card shoe 11 moves to the identifying plane 21, and then moves from the identifying plane 21 to the used card shoe 12, and when the second suction nozzle 41 moves to the unused card shoe 11, it is used for sucking the unused card shoe 11. A piece of the playing card 60 in the card shoe 11, and the sucked playing card 60 is moved to the identification plane 21 to identify the card face, and when the second suction nozzle 41 moves to the used card shoe 12, The sucked playing cards 60 are placed in the used card shoe 12 . And when two card face recognition modules 20 are provided, the recognition planes 21 of the two card face recognition modules 20 respectively allow the first card sending and receiving path and the second card sending and receiving path to pass through.

Please also refer to FIG. 3 , the controller 50 is connected to the first robot arm 30 and the second robot arm 40 , and the controller 50 sequentially generates a plurality of card opening threads 51 according to the progress of the game. The game takes the baccarat game as an example, and will be described without drawing cards. The multiple card opening threads 51 include: the player's first card opening thread 51A, the banker's first card opening card execution There are four threads including thread 51B, the player's second card opening thread 51C, and the banker's second card opening thread 51D. The controller 50 selects any one of the first robot arm 30 and the second robot arm 40 to execute the plurality of card opening threads 51 in sequence to complete the card opening process.

Please refer to FIG. 4 again. In one embodiment, the actions of the player's first card opening thread 51A include: taking the player's first card, identifying, squinting/showing cards, and idle The first card of the house. The actions of the dealer's first card opening thread 51B include: taking the dealer's first card, identifying, squinting/showing cards, and placing the dealer's first card. The action of the player's second card opening thread 51C includes: taking Player 2nd Card, Identify, Squeeze/Show, and Player 2nd Card. The actions of the dealer's second card opening thread 51D include: taking the dealer's second card, identifying, squinting/showing cards, and placing the dealer's second card. If at the beginning, the first robot arm 30 executes the player's first card opening thread 51A, then when the first robot arm 30 performs "recognition", the second robot arm 40 can start to execute the The dealer's first card is opened to thread 51B. That is to say, when both the first robot arm 30 and the second robot arm 40 are in normal operation, at least two adjacent opening threads 51 may have overlapping execution time, which can further speed up the execution time. the conduct of the licensing procedure.

In addition, the controller 50 confirms the state of the first robot arm 30 and the second robot arm 40 before executing the plurality of card opening threads 51 , and the controller 50 determines the state of the first robot arm 30 according to the state of the first robot arm 30 . Depending on the state of the second robot arm 40 , the first robot arm 30 or the second robot arm 40 is selected to execute the plurality of card opening threads 51 . So when either robot arm fails. Another robotic arm can still complete the card opening process, which has allowed the game to end, preventing players from questioning the fairness of the game.

In one embodiment, the controller 50 selects the first robotic arm 30 and the second robotic arm 40 in turn to perform the card opening procedure, so as to allow the usage time of the first robotic arm 30 and the second robotic arm 40 quite, and facilitates the timing of maintenance operations.

If the game has a first-party player and a second-party player belonging to different factions, the plurality of opening threads 51 belong to the first-party player or the second-party player, respectively, and belong to the first-party The first robot arm 30 performs the card opening process for the multiple card opening threads 51 of the player, and the second robot arm 40 performs the card opening process for the multiple card opening threads 51 belonging to the second player. And the first card sending and receiving path and the second card sending and receiving path respectively have a first spot card direction and a second spot card direction, and the first spot card direction and the second spot card direction are facing respectively. The first-party player and the second-party player can thus increase the antagonism of the game and greatly enhance the player's sense of participation.

As mentioned above, the features of this creation include at least:

1. By allowing the controller to select any one of the first robotic arm and the second robotic arm to perform the plurality of card opening threads in sequence, the first robotic arm and the second robotic arm can operate simultaneously to issue cards. cards and speed up the deal.

2 When one of the robotic arms is damaged, the other robotic arm can still continue to deal cards to complete the game, so as to reduce disputes and increase the credibility of the game.

3. There may be overlapping execution times between at least two adjacent multiple card opening threads in time sequence, which can further speed up the card dealing procedure.

4. The first robotic arm and the second robotic arm can be exclusively used in the opening procedures of different factions, which can increase the sense of confrontation and increase the player's sense of engagement.

To sum up, the above is only a preferred embodiment of this creation, and is not used to limit the scope of implementation of this creation, that is, all equivalent changes and modifications made according to the content of the patented scope of this creation shall be the technology of this creation category.

10: Dealing table

11: Unused card box

12: Used card box

13: Turntable

20: Card face recognition module

21: Identify the plane

30: The first robotic arm

31: The first nozzle

32: The first link mechanism

40: Second robotic arm

41: Second nozzle

42: The second link mechanism

60: Poker

Claims (7)

A dual robotic arm card delivery system, which performs a card opening procedure on a plurality of playing cards in a game, comprising: a card delivery table, the card delivery table has an unused card shoe and a used card shoe, the unused card shoe The card shoe is used for placing the plurality of playing cards that have not undergone the card opening procedure, and the used card shoe is used for placing the plurality of playing cards that have completed the card opening procedure; a card face recognition module, the card face recognition module is arranged in On the card dealing table, and the card face identification module has an identification plane, the card face identification module is used to identify the card face of the playing card moved to the identification plane; a first robot arm, the first machine The arm is arranged on the card-dealing table, and the first robotic arm has a first suction nozzle and a first link mechanism, the first link mechanism drives the first suction nozzle to move to perform the card opening procedure and has a first path for sending and receiving cards, the first path for sending and receiving cards is moved from the unused card shoe to the identification plane, and then moved from the identification plane to the used card shoe, and the first suction nozzle moves to the identification plane When the card shoe is not used, in order to suck one of the playing cards located in the unused card shoe, and move the sucked playing card to the recognition plane to recognize the card surface, and move the first suction nozzle to the recognition plane. When the card shoe is used, place the sucked playing card in the used card shoe; a second robot arm, the second robot arm is arranged on the card dealing table, and the second robot arm has a second suction mouth and a second link mechanism, the second link mechanism drives the second suction nozzle to move to carry out the card opening process and has a second card sending and receiving path, the second card sending and receiving path is from the unused The card shoe moves to the identification plane, and then moves from the identification plane to the used card shoe, and when the second suction nozzle moves to the unused card shoe, it sucks a piece of the poker in the unused card shoe card, and move the sucked playing card to the identification plane to identify the card surface, and when the second suction nozzle moves to the used card shoe, place the sucked playing card in the used card shoe; as well as a controller, the controller is connected to the first robot arm and the second robot arm, and the controller sequentially generates a plurality of card opening threads according to the progress of the game, and the controller selects the first robot arm and the second robot arm Any one of the second robotic arms sequentially executes the plurality of card opening threads to complete the card opening procedure. The dual robot arm card distribution system according to claim 1, wherein when the first robot arm and the second robot arm are both in normal operation, there is overlap between at least two consecutively adjacent multiple card opening threads execution time. The dual robotic arm card distribution system as claimed in claim 1, wherein two card face recognition modules are provided, and are respectively adjacent to the first robotic arm and the second robotic arm, and the two card face recognition modules The identification plane is respectively for the first card sending and receiving path and the second card sending and receiving path to pass through. The dual robotic arm licensing system as claimed in claim 1, wherein the controller confirms the states of the first robotic arm and the second robotic arm before executing the plurality of card opening threads. The state of the first robot arm and the state of the second robot arm select the first robot arm or the second robot arm to execute the plurality of card opening threads. The dual robotic arm card distribution system as claimed in claim 1, wherein the controller selects the first robotic arm and the second robotic arm in turn to perform the card opening procedure. The dual robotic arm card distribution system according to claim 1, wherein the game has a first-party player and a second-party player belonging to different camps, and the plurality of card opening threads belong to the first-party player or the second-party player respectively. The second player, and the plurality of opening threads belonging to the first player are executed by the first robotic arm, and the plurality of opening threads belonging to the second player are performed by the second player The robotic arm performs the opening procedure. The dual robotic arm card delivery system according to claim 6, wherein the first card sending and receiving path and the second card sending and receiving path respectively have a first direction of spotting cards and a second direction of spotting cards, and the first The current card direction and the second current card direction face the first player and the second player respectively.

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