CN112672126A - Real-time projection method and system for billiard movement track - Google Patents

Abstract

The invention provides a billiard ball motion trail real-time projection method and a system, wherein the method comprises the following steps: acquiring a video image of the billiard table top through image acquisition equipment; determining batting information according to the video image; determining the movement track of the corresponding billiards according to the hitting information; and projecting the motion trail to the billiard table top through the projection equipment. According to the method and the system for projecting the movement track of the billiards in real time, disclosed by the invention, the hitting information is determined according to the video image acquired by the depth camera, the movement track of the corresponding billiards is determined according to the hitting information, and the movement track is projected onto the tabletop of the billiard table in real time through the projector, so that a billiard beginner is helped to judge the movement track of the billiards, the experience of the billiards is improved, and meanwhile, the burden of a coach of the billiards can be reduced.

Description

Real-time projection method and system for billiard movement track

Technical Field

The invention relates to the technical field of projection, in particular to a billiard ball motion trail real-time projection method and system.

Background

At present, billiard sports are widely popular. In the billiard sports, many beginners cannot accurately judge the movement track of billiards, experience is poor, and meanwhile, a billiard coach is needed to help judgment. Therefore, help beginners to judge the movement locus of the billiards, improve the experience of the billiards, reduce the burden of coaching of the billiards, and urgently need an auxiliary means.

Disclosure of Invention

One of the purposes of the invention is to provide a method and a system for projecting a billiard ball movement track in real time, wherein the hitting information is determined according to a video image acquired by a depth camera, the movement track of the corresponding billiard ball is determined according to the hitting information, and the movement track is projected onto the tabletop of a billiard table in real time through a projector, so that a billiard ball beginner is helped to judge the movement track of the billiard ball, the experience of the billiard ball beginner is improved, and meanwhile, the burden of a billiard ball coach can be relieved.

The billiard ball motion trail real-time projection method provided by the embodiment of the invention comprises the following steps:

acquiring a video image of the billiard table top through image acquisition equipment;

determining batting information according to the video image;

determining the movement track of the corresponding billiards according to the hitting information;

and projecting the motion trail to the billiard table top through the projection equipment.

Preferably, the determining of the hitting information according to the video image specifically includes:

constructing a billiard environment model based on the video image according to a preset construction rule;

obtaining the coordinate (a) representing the center position of the ith billiard ball in the billiard ball environment model at the t time_i,t,b_i,t,c_i,t) Coordinates (x) indicating the position of the tip of the club_1,t,y_1,t,z_1,t) And the coordinates (x) of the position of the rod tail_2,t,y_2,t,z_2,t)；

Determining a linear equation of the club based on the coordinates of the tip position and the coordinates of the tail position:

wherein x, y and z are preset space linear equation representation parameters;

constructing a billiard real-time model based on coordinates of the billiard center position:

(A,B,C)

wherein (A, B, C) are coordinates representing any point on the billiard ball, and r is₀For a predetermined radius of the billiard ball, [ …, … ]]Represents a section;

if a point exists on the real-time billiard model (A)₀,B₀,C₀) Falling on the straight line of the ball arm to be A₀As parameters x, B₀As parameters y and C₀When the parameters z are substituted into the ball arm linear equation to be established, the corresponding billiards are listed in the sequence to be screened;

counting the distance between the center position coordinate and the cue tip position coordinate of each billiard ball in the sequence to be screened, taking the billiard ball corresponding to the minimum distance as a cue ball, and meanwhile, determining that a user aims at a target ball by using a cue ball;

the determined information that determines the cue ball and that the user is aiming the cue ball using the club will be used as the shot information.

Preferably, the determining the movement track of the corresponding billiard ball according to the hitting information specifically includes:

when it is determined that the user is aiming at the goal ball using the club, a motion trajectory of the cue ball is simulated based on the toe position coordinate, the butt position coordinate, and the cue ball center position coordinate according to a preset simulation rule.

Preferably, the billiard ball motion trail real-time projection method further includes:

when the position coordinate of the cue tip falls on the real-time billiard model, x is about to be obtained_1,tAs A, y_1,tAs B and z_1,tWhen the real-time billiard ball model is established as the C, determining that a user is hitting balls by using a billiard ball rod, and at the moment, acquiring first coordinates representing the center position of a cue ball in the billiard ball environment model at preset time intervals and outputting and combining the first coordinates into a real motion trail coordinate set;

acquiring a motion trail coordinate set corresponding to the motion trail;

calculating a projection error index of the system based on the real motion trajectory coordinate set and the motion trajectory coordinate set:

wherein error is a projection error index of the system, sigma is a preset error coefficient, and k₁、k₂And k₃Is a preset weight value, X_1,jIs the X-axis value, Y, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Y-axis value, Z, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Z-axis value, X, of the jth coordinate in the real motion trajectory coordinate set_2,jIs the X-axis value, Y, of the jth coordinate in the motion trail coordinate set_2,jIs the Y-axis value, Z, of the jth coordinate in the motion trail coordinate set_2,jIs the Z-axis value, V, of the jth coordinate in the motion trail coordinate set₁、V₂And V₃For a predetermined differential check value, Q₁、Q₂、Q₃、Q₄、Q₅And Q₆The comparison result is a preset ratio check value, n is a real motion track coordinate set or the total number of coordinates in the motion track coordinate set, and is equal to or;

when the projection error index is larger than or equal to a preset error index threshold value and/or a correction instruction input by a user is received, acquiring a characteristic position coordinate representing a preset characteristic position in the billiard ball environment model;

acquiring projection coordinates corresponding to the characteristic positions in the projection equipment according to a preset initial conversion rule;

determining a new transformation rule based on the feature location coordinates and the projection coordinates:

wherein, rule₁Rule being an X-axis transformation rule of the new transformation rules₂For the Y-axis conversion rule among the new conversion rules, O_1,rIs the X-axis value, O, of the r-th characteristic position coordinate_2,rFor the X-axis value of the r-th projection coordinate, P_1,rFor Y-axis values of r characteristic position coordinates, P_2,rIs the Y-axis value of the r-th projection coordinate, m being the characteristic position coordinate or the total number of projection coordinates;

and when projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule.

Preferably, when it is determined that the user is hitting a ball with the cue, a second coordinate (α) indicating a center position of a cue ball in the billiard environment model at the time p is acquired_p,β_p,γ_p)；

Calculating the real-time movement speed of the cue ball based on the second coordinate:

wherein v is_{cue ball}Is the real-time moving speed of the cue ball, alpha_pIs the X-axis value, beta, in the second coordinate of the cue ball at the moment p_pIs a Y-axis value, alpha, in a second coordinate of the cue ball at the moment p_p-1Is the X-axis value, beta, in the second coordinate of the cue ball at the time p-1_p-1Is a Y-axis value T in a second coordinate of the cue ball at the moment p-1_PIs the time value corresponding to the p-th time, T_p-1Is the time value corresponding to the p-1 moment, and p is more than or equal to 1;

acquiring a preset initial halo;

determining the radius of the initial halo according to the real-time movement speed of the cue ball:

R＝μ·R₀·v_{cue ball}

wherein R is the radius of the initial halo after adjustment, mu is a preset adjustment coefficient, and R is₀Is the initial radius of the initial halo, v_{cue ball}The real-time movement speed of the cue ball;

determining the color of the initial halo according to the real-time movement speed of the cue ball;

the method comprises the following steps of determining the color of an initial halo according to the real-time movement speed of a cue ball, and specifically comprises the following steps:

when the real-time movement speed is greater than a preset first threshold value, determining that the color of the initial halo is red;

when the real-time movement speed is less than or equal to a first threshold value and greater than or equal to a preset second threshold value, determining that the color of the initial halo is yellow;

when the real-time movement speed is smaller than the second threshold and larger than a preset third threshold, determining that the color of the initial halo is blue;

when the real-time movement speed is less than or equal to a third threshold value, determining that the color of the initial halo is white;

after the size and the color of the initial light ring are determined, the initial light ring is projected to a corresponding position on the table top of the billiard table through the projection equipment.

The billiard ball motion trail real-time projection system provided by the embodiment of the invention comprises:

the acquisition module is used for acquiring a video image of the billiard table top through image acquisition equipment;

the first determining module is used for determining batting information according to the video image;

the second determining module is used for determining the movement track of the corresponding billiard ball according to the batting information;

and the projection module is used for projecting the motion trail onto the billiard table top through the projection equipment.

Preferably, the first determining module performs operations including:

constructing a billiard environment model based on the video image according to a preset construction rule;

obtaining the coordinate (a) representing the center position of the ith billiard ball in the billiard ball environment model at the t time_i,t,b_i,t,c_i,t) Coordinates (x) indicating the position of the tip of the club_1,t,y_1,t,z_1,t) And the coordinates (x) of the position of the rod tail_2,t,y_2,t,z_2,t)；

Determining a linear equation of the club based on the coordinates of the tip position and the coordinates of the tail position:

wherein x, y and z are preset space linear equation representation parameters;

constructing a billiard real-time model based on coordinates of the billiard center position:

(A,B,C)

wherein (A, B, C) are coordinates representing any point on the billiard ball, and r is₀For a predetermined radius of the billiard ball, [ …, … ]]Represents a section;

if a point exists on the real-time billiard model (A)₀,B₀,C₀) Falling on the straight line of the ball arm to be A₀As parameters x, B₀As parameters y and C₀When the parameters z are substituted into the ball arm linear equation to be established, the corresponding billiards are listed in the sequence to be screened;

counting the distance between the center position coordinate and the cue tip position coordinate of each billiard ball in the sequence to be screened, taking the billiard ball corresponding to the minimum distance as a cue ball, and meanwhile, determining that a user aims at a target ball by using a cue ball;

the determined information that determines the cue ball and that the user is aiming the cue ball using the club will be used as the shot information.

Preferably, the second determination module performs operations including:

when it is determined that the user is aiming at the goal ball using the club, a motion trajectory of the cue ball is simulated based on the toe position coordinate, the butt position coordinate, and the cue ball center position coordinate according to a preset simulation rule.

Preferably, the billiard ball movement track real-time projection system further includes:

the self-adaptive correction module is used for automatically correcting when the projection error of the system is larger;

the adaptive correction module performs operations comprising:

when the position coordinate of the cue tip falls on the real-time billiard model, x is about to be obtained_1,tAs A, y_1,tAs B and z_1,tWhen the real-time billiard ball model is established as the C, determining that a user is hitting balls by using a billiard ball rod, and at the moment, acquiring first coordinates representing the center position of a cue ball in the billiard ball environment model at preset time intervals and outputting and combining the first coordinates into a real motion trail coordinate set;

acquiring a motion trail coordinate set corresponding to the motion trail;

calculating a projection error index of the system based on the real motion trajectory coordinate set and the motion trajectory coordinate set:

wherein error is a projection error index of the system, sigma is a preset error coefficient, and k₁、k₂And k₃Is a preset weight value, X_1,jIs the X-axis value, Y, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Y-axis value, Z, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Z-axis value, X, of the jth coordinate in the real motion trajectory coordinate set_2,jIs the X-axis value, Y, of the jth coordinate in the motion trail coordinate set_2,jIs the Y-axis value, Z, of the jth coordinate in the motion trail coordinate set_2,jIs the jth in the motion track coordinate setZ-axis value of the coordinate, V₁、V₂And V₃For a predetermined differential check value, Q₁、Q₂、Q₃、Q₄、Q₅And Q₆The comparison result is a preset ratio check value, n is a real motion track coordinate set or the total number of coordinates in the motion track coordinate set, and is equal to or;

when the projection error index is larger than or equal to a preset error index threshold value and/or a correction instruction input by a user is received, acquiring a characteristic position coordinate representing a preset characteristic position in the billiard ball environment model;

acquiring projection coordinates corresponding to the characteristic positions in the projection equipment according to a preset initial conversion rule;

determining a new transformation rule based on the feature location coordinates and the projection coordinates:

wherein, rule₁Rule being an X-axis transformation rule of the new transformation rules₂For the Y-axis conversion rule among the new conversion rules, O_1,rIs the X-axis value, O, of the r-th characteristic position coordinate_2,rFor the X-axis value of the r-th projection coordinate, P_1,rFor Y-axis values of r characteristic position coordinates, P_2,rIs the Y-axis value of the r-th projection coordinate, m being the characteristic position coordinate or the total number of projection coordinates;

and when projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule.

Preferably, the billiard ball movement track real-time projection system further includes:

the cue ball light ring determining module is used for determining the color and the size of the cue ball light ring and projecting the cue ball light ring to the position of a cue ball on the tabletop of the billiard table in real time through projection equipment;

the execution of the cue ball halo determining module comprises the following operations:

acquiring a second time point representing the center position of a cue ball in the billiard environment model when the user is determined to be hitting the ball with the cue ballTwo coordinates (alpha)_p,β_p,γ_p)；

Calculating the real-time movement speed of the cue ball based on the second coordinate:

wherein v is_{cue ball}Is the real-time moving speed of the cue ball, alpha_pIs the X-axis value, beta, in the second coordinate of the cue ball at the moment p_pIs a Y-axis value, alpha, in a second coordinate of the cue ball at the moment p_p-1Is the X-axis value, beta, in the second coordinate of the cue ball at the time p-1_p-1Is a Y-axis value T in a second coordinate of the cue ball at the moment p-1_PIs the time value corresponding to the p-th time, T_p-1Is the time value corresponding to the p-1 moment, and p is more than or equal to 1;

acquiring a preset initial halo;

determining the radius of the initial halo according to the real-time movement speed of the cue ball:

R＝μ·R₀·v_{cue ball}

wherein R is the radius of the initial halo after adjustment, mu is a preset adjustment coefficient, and R is₀Is the initial radius of the initial halo, v_{cue ball}The real-time movement speed of the cue ball;

determining the color of the initial halo according to the real-time movement speed of the cue ball;

the method comprises the following steps of determining the color of an initial halo according to the real-time movement speed of a cue ball, and specifically comprises the following steps:

when the real-time movement speed is greater than a preset first threshold value, determining that the color of the initial halo is red;

when the real-time movement speed is less than or equal to a first threshold value and greater than or equal to a preset second threshold value, determining that the color of the initial halo is yellow;

when the real-time movement speed is smaller than the second threshold and larger than a preset third threshold, determining that the color of the initial halo is blue;

when the real-time movement speed is less than or equal to a third threshold value, determining that the color of the initial halo is white;

after the size and the color of the initial light ring are determined, the initial light ring is projected to a corresponding position on the table top of the billiard table through the projection equipment.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of a method for projecting a cue ball movement track in real time according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a billiard ball movement track real-time projection system according to an embodiment of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The embodiment of the invention provides a billiard ball motion trail real-time projection method, as shown in figure 1, comprising the following steps:

s1, acquiring a video image of the billiard table top through image acquisition equipment;

s2, determining the batting information according to the video image;

s3, determining the movement track of the corresponding billiards according to the hitting information;

and S4, projecting the motion trail to the billiard table top through the projection equipment.

The working principle of the technical scheme is as follows:

arranging image acquisition equipment (a depth camera) and projection equipment (an interactive projector) at least 1.7m above the center of the billiard table top; acquiring a video image of the billiard table top through a depth camera; determining shot information from the video images (identifying whether the user is aiming at the ball with the club, preparing to hit the ball, and identifying the billiards that the user aims at with the club as a cue ball); and after the cue ball is determined, simulating the motion trail of the cue ball and projecting the motion trail on the billiard table top in real time through the projector.

The beneficial effects of the above technical scheme are: according to the embodiment of the invention, the hitting information is determined according to the video image collected by the depth camera, the motion trail corresponding to the billiards is determined according to the hitting information, and the motion trail is projected to the billiard table top in real time through the projector, so that a billiard beginner is helped to judge the motion trail of the billiards, the experience is improved, and meanwhile, the burden of a billiard coach can be reduced.

The embodiment of the invention provides a billiard ball motion trail real-time projection method, which determines batting information according to a video image, and specifically comprises the following steps:

constructing a billiard environment model based on the video image according to a preset construction rule;

obtaining the coordinate (a) representing the center position of the ith billiard ball in the billiard ball environment model at the t time_i,t,b_i,t,c_i,t) Coordinates (x) indicating the position of the tip of the club_1,t,y_1,t,z_1,t) And the coordinates (x) of the position of the rod tail_2,t,y_2,t,z_2,t)；

Determining a linear equation of the club based on the coordinates of the tip position and the coordinates of the tail position:

wherein x, y and z are preset space linear equation representation parameters;

constructing a billiard real-time model based on coordinates of the billiard center position:

(A,B,C)

wherein (A, B, C) are coordinates representing any point on the billiard ball, and r is₀For a predetermined radius of the billiard ball, [ …, … ]]Represents a section;

if a point exists on the real-time billiard model (A)₀,B₀,C₀) Falling on the straight line of the ball arm to be A₀As parameters x, B₀As parameters y and C₀When the parameters z are substituted into the ball arm linear equation to be established, the corresponding billiards are listed in the sequence to be screened;

counting the distance between the center position coordinate and the cue tip position coordinate of each billiard ball in the sequence to be screened, taking the billiard ball corresponding to the minimum distance as a cue ball, and meanwhile, determining that a user aims at a target ball by using a cue ball;

the determined information that determines the cue ball and that the user is aiming the cue ball using the club will be used as the shot information.

The working principle of the technical scheme is as follows:

the preset construction rule is specifically as follows: taking any corner position of the billiard table as an original point, taking the shorter side of the adjacent two sides of the billiard table as an X axis and the longer side as a Y axis, and taking the direction vertical to the surface of the billiard table as a Z axis to establish a space rectangular coordinate system, and expressing the billiards and the billiard cue in the space rectangular coordinate system to form a billiard environment model; generally, when a club image (similar to a rectangular parallelepiped) is recognized, the thinner end is used as a tip, and the thicker end is used as a tail; at a certain moment, if a point on the billiard ball falls on the straight line of the billiard ball, the user may aim at the billiard ball by using the billiard ball, list the billiard ball in the set to be screened, take the billiard ball corresponding to the minimum distance between the billiard ball and the cue tip in the set to be screened as a cue ball, and simultaneously determine that the user aims at the cue ball by using the billiard ball to prepare for hitting.

The beneficial effects of the above technical scheme are: according to the method and the device, the ball rod linear equation is determined, the real-time billiard model is built, if one point on the real-time billiard model is located on the ball rod linear line, the real-time billiard model is listed in the set to be screened, the billiard corresponding to the minimum distance between the billiard and the tip of the ball rod in the set to be screened is used as the cue ball, meanwhile, the fact that the user aims at the cue ball by using the ball rod is determined, the action that the user aims by using the ball rod can be accurately identified, and the billiard which the user is about to hit by using the ball rod is more accurately determined and used as the cue ball.

The embodiment of the invention provides a real-time projection method of a billiard ball movement track, which determines the movement track of a corresponding billiard ball according to hitting information, and specifically comprises the following steps:

when it is determined that the user is aiming at the goal ball using the club, a motion trajectory of the cue ball is simulated based on the toe position coordinate, the butt position coordinate, and the cue ball center position coordinate according to a preset simulation rule.

The working principle of the technical scheme is as follows:

the preset simulation rule is specifically as follows: the motion trail of the cue ball is simulated according to the position coordinates of the center of the cue ball, the position coordinates of the tip of the cue ball and the position coordinates of the tail of the cue ball in combination with preset hitting power, hitting points, the length and width of the billiard table, the friction coefficient of the billiard table and the like.

The beneficial effects of the above technical scheme are: according to the embodiment of the invention, when the user is confirmed to aim at the goal ball by using the club, the motion track of the cue ball is simulated, so that the training device is very intelligent.

The embodiment of the invention provides a billiard ball motion trail real-time projection method, which further comprises the following steps:

when the position coordinate of the cue tip falls on the real-time billiard model, x is about to be obtained_1,tAs A, y_1,tAs B and z_1,tWhen the real-time billiard ball model is established as the C, determining that a user is hitting balls by using a billiard ball rod, and at the moment, acquiring first coordinates representing the center position of a cue ball in the billiard ball environment model at preset time intervals and outputting and combining the first coordinates into a real motion trail coordinate set;

acquiring a motion trail coordinate set corresponding to the motion trail;

calculating a projection error index of the system based on the real motion trajectory coordinate set and the motion trajectory coordinate set:

wherein error is a projection error index of the system, sigma is a preset error coefficient, and k₁、k₂And k₃Is a preset weight value, X_1,jIs the X-axis value, Y, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Y-axis value, Z, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Z-axis value, X, of the jth coordinate in the real motion trajectory coordinate set_2,jIs the X-axis value, Y, of the jth coordinate in the motion trail coordinate set_2,jIs the Y-axis value, Z, of the jth coordinate in the motion trail coordinate set_2,jIs the Z-axis value, V, of the jth coordinate in the motion trail coordinate set₁、V₂And V₃For a predetermined differential check value, Q₁、Q₂、Q₃、Q₄、Q₅And Q₆The comparison result is a preset ratio check value, n is a real motion track coordinate set or the total number of coordinates in the motion track coordinate set, and is equal to or;

when the projection error index is larger than or equal to a preset error index threshold value and/or a correction instruction input by a user is received, acquiring a characteristic position coordinate representing a preset characteristic position in the billiard ball environment model;

acquiring projection coordinates corresponding to the characteristic positions in the projection equipment according to a preset initial conversion rule;

determining a new transformation rule based on the feature location coordinates and the projection coordinates:

wherein, rule₁Rule being an X-axis transformation rule of the new transformation rules₂For the Y-axis conversion rule among the new conversion rules, O_1,rIs the X-axis value, O, of the r-th characteristic position coordinate_2,rFor the X-axis value of the r-th projection coordinate, P_1,rFor Y-axis values of r characteristic position coordinates, P_2,rIs the Y-axis value of the r-th projection coordinate, m being the characteristic position coordinate or the total number of projection coordinates;

and when projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule.

The working principle of the technical scheme is as follows:

when the coordinate of the cue tip falls on the real-time billiard model at a certain moment, namely the cue tip contacts with the billiard, determining that a user is using the cue to hit a ball, acquiring the coordinate of the center position of the cue ball during movement at preset time intervals (for example: 0.001 second) and outputting and combining (sequencing according to time sequence) the coordinate of the real movement locus; when the motion trail of the cue ball is simulated, obtaining a motion trail coordinate set corresponding to the motion trail of the cue ball; calculating a projection error index of the system based on the two sets; when the coordinates of the billiards in the billiard environment model are obtained, errors may exist in the coordinates due to movement (namely, timeliness of obtaining) of the billiards, and therefore an error coefficient needs to be introduced; each space coordinate (for example, (3,4,0.1)) in the billiard ball environment model corresponds to a projection coordinate (for example, (0.3, 0.4)) in the projection coordinate system of the projector, and if an image is projected at the coordinate (3,4,0.1), the projector can project at the coordinate (0.3, 0.4) when performing operation; because the billiards only move on the billiard table, the projection coordinate only establishes a conversion relation with the X, Y axis coordinate of the space coordinate; when the error index is larger than or equal to a preset error index threshold value (for example: 0.01) and/or a user inputs a correction instruction through a client (for example: a smart phone, a computer or a tablet), acquiring characteristic position coordinates representing preset characteristic positions (for example: six ball bag center positions or position points marked on a billiard table surface by using a marking pen in advance) in a billiard environment model; the preset initial conversion rule is specifically as follows: before the billiard table is put into use, each characteristic position corresponds to a projection coordinate; when the correction is performed, the conversion relation between the axis value of the space coordinate X, Y and the axis value of the projection coordinate X, Y is re-determined; when projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule; for example: when the track image is projected at the space coordinate (9,8,0.2), the X, Y axis values, namely 9 and 8, are converted into projection coordinates according to the new conversion relation, and then the projector is controlled to project the corresponding image at the projection coordinates.

The beneficial effects of the above technical scheme are: in the using process of the billiard table, as a user possibly leans or lies on the billiard table, the billiard table is possibly slightly displaced, the embodiment of the invention determines the projection error index of the system, and when the projection error index is larger or a correction instruction is manually input, the conversion relation between the space coordinate in the billiard environment model and the projection coordinate of the projector is corrected again, so that the condition that the projection is not accurate due to the slight displacement of the billiard table can be prevented, and the running stability of the system is greatly improved.

The embodiment of the invention provides a real-time projection method of a billiard ball motion trail, which is characterized in that when a user is determined to hit a billiard ball by using a billiard ball rod, a second coordinate (alpha) representing the center position of a cue ball in a billiard ball environment model at the moment p is obtained_p,β_p,γ_p)；

Calculating the real-time movement speed of the cue ball based on the second coordinate:

wherein v is_{cue ball}Is the real-time moving speed of the cue ball, alpha_pIs the X-axis value, beta, in the second coordinate of the cue ball at the moment p_pIs a Y-axis value, alpha, in a second coordinate of the cue ball at the moment p_p-1Is the X-axis value, beta, in the second coordinate of the cue ball at the time p-1_p-1Is a Y-axis value T in a second coordinate of the cue ball at the moment p-1_PIs the time value corresponding to the p-th time, T_p-1Is the time value corresponding to the p-1 moment, and p is more than or equal to 1;

acquiring a preset initial halo;

determining the radius of the initial halo according to the real-time movement speed of the cue ball:

R＝μ·R₀·v_{cue ball}

wherein R is the radius of the initial halo after adjustment, mu is a preset adjustment coefficient, and R is₀Is the initial radius of the initial halo, v_{cue ball}The real-time movement speed of the cue ball;

determining the color of the initial halo according to the real-time movement speed of the cue ball;

the method comprises the following steps of determining the color of an initial halo according to the real-time movement speed of a cue ball, and specifically comprises the following steps:

when the real-time movement speed is greater than a preset first threshold value, determining that the color of the initial halo is red;

when the real-time movement speed is less than or equal to a first threshold value and greater than or equal to a preset second threshold value, determining that the color of the initial halo is yellow;

when the real-time movement speed is smaller than the second threshold and larger than a preset third threshold, determining that the color of the initial halo is blue;

when the real-time movement speed is less than or equal to a third threshold value, determining that the color of the initial halo is white;

after the size and the color of the initial light ring are determined, the initial light ring is projected to a corresponding position on the table top of the billiard table through the projection equipment.

The working principle of the technical scheme is as follows:

when it is determined that the user is hitting a ball with the club, the moving speed of the cue ball is calculated according to real-time coordinates of the cue ball during the movement of the cue ball, and since the cue ball moves on the X0Y plane, the distance is calculated only based on the X, Y axis value of the two-point space coordinates; when it is determined that the user is hitting a ball with the club, a preset timer (software or hardware timer) starts to count time, each time corresponding to a time value, for example: if the time value corresponding to the p-th moment is 0.3 second and the time value corresponding to the p-1 th moment is 0.1 second, the time period is determined to be 0.2 second, and the ratio of the distance to the time is the speed; when the cue ball moves, the projection halo can be tracked in real time, and the size and the color of the halo can be determined according to the real-time movement speed of the cue ball; when the size of the light ring is determined, the adjustment coefficient can adjust the radius of the light ring according to the real-time speed of the cue ball, generally, the faster the speed is, the larger the light ring is, the smaller the speed is, and the smaller the light ring is; when determining the color of the halo, if the speed is greater than a preset first threshold (e.g., 0.5m/s), determining that the color of the halo is red, and so on, generally, the faster the speed, the warmer the color of the halo, and the slower the speed, the colder the color of the halo.

The beneficial effects of the above technical scheme are: according to the embodiment of the invention, the size and the color of the halo are determined according to the real-time motion speed of the cue ball in the motion process after the cue ball is hit, and the halo with the determined size and the determined color is projected to the real-time position of the cue ball, so that tracking projection is realized, the running speed of the billiards of a user can be indicated, and the user experience can be improved to the greatest extent.

The embodiment of the invention provides a billiard ball motion trail real-time projection system, as shown in fig. 2, comprising:

the acquisition module 1 is used for acquiring a video image of the billiard table top through image acquisition equipment;

the first determining module 2 is used for determining the batting information according to the video image;

the second determining module 3 is used for determining the movement track of the corresponding billiard ball according to the batting information;

and the projection module 4 is used for projecting the motion trail onto the billiard table surface through the projection equipment.

The working principle of the technical scheme is as follows:

arranging image acquisition equipment (a depth camera) and projection equipment (an interactive projector) at least 1.7m above the center of the billiard table top; acquiring a video image of the billiard table top through a depth camera; determining shot information from the video images (identifying whether the user is aiming at the ball with the club, preparing to hit the ball, and identifying the billiards that the user aims at with the club as a cue ball); and after the cue ball is determined, simulating the motion trail of the cue ball and projecting the motion trail on the billiard table top in real time through the projector.

The beneficial effects of the above technical scheme are: according to the embodiment of the invention, the hitting information is determined according to the video image collected by the depth camera, the motion trail corresponding to the billiards is determined according to the hitting information, and the motion trail is projected to the billiard table top in real time through the projector, so that a billiard beginner is helped to judge the motion trail of the billiards, the experience is improved, and meanwhile, the burden of a billiard coach can be reduced.

The embodiment of the invention provides a billiard ball motion trail real-time projection system, wherein a first determining module 2 executes the following operations:

constructing a billiard environment model based on the video image according to a preset construction rule;

obtaining the coordinate (a) representing the center position of the ith billiard ball in the billiard ball environment model at the t time_i,t,b_i,t,c_i,t) Coordinates (x) indicating the position of the tip of the club_1,t,y_1,t,z_1,t) And the coordinates (x) of the position of the rod tail_2,t,y_2,t,z_2,t)；

Determining a linear equation of the club based on the coordinates of the tip position and the coordinates of the tail position:

wherein x, y and z are preset space linear equation representation parameters;

constructing a billiard real-time model based on coordinates of the billiard center position:

(A,B,C)

wherein (A, B, C) are coordinates representing any point on the billiard ball, and r is₀For a predetermined radius of the billiard ball, [ …, … ]]Represents a section;

if the billiards real-time model existsOne point (A)₀,B₀,C₀) Falling on the straight line of the ball arm to be A₀As parameters x, B₀As parameters y and C₀When the parameters z are substituted into the ball arm linear equation to be established, the corresponding billiards are listed in the sequence to be screened;

counting the distance between the center position coordinate and the cue tip position coordinate of each billiard ball in the sequence to be screened, taking the billiard ball corresponding to the minimum distance as a cue ball, and meanwhile, determining that a user aims at a target ball by using a cue ball;

the determined information that determines the cue ball and that the user is aiming the cue ball using the club will be used as the shot information.

The working principle of the technical scheme is as follows:

the preset construction rule is specifically as follows: taking any corner position of the billiard table as an original point, taking the shorter side of the adjacent two sides of the billiard table as an X axis and the longer side as a Y axis, and taking the direction vertical to the surface of the billiard table as a Z axis to establish a space rectangular coordinate system, and expressing the billiards and the billiard cue in the space rectangular coordinate system to form a billiard environment model; generally, when a club image (similar to a rectangular parallelepiped) is recognized, the thinner end is used as a tip, and the thicker end is used as a tail; at a certain moment, if a point on the billiard ball falls on the straight line of the billiard ball, the user may aim at the billiard ball by using the billiard ball, list the billiard ball in the set to be screened, take the billiard ball corresponding to the minimum distance between the billiard ball and the cue tip in the set to be screened as a cue ball, and simultaneously determine that the user aims at the cue ball by using the billiard ball to prepare for hitting.

The beneficial effects of the above technical scheme are: according to the method and the device, the ball rod linear equation is determined, the real-time billiard model is built, if one point on the real-time billiard model is located on the ball rod linear line, the real-time billiard model is listed in the set to be screened, the billiard corresponding to the minimum distance between the billiard and the tip of the ball rod in the set to be screened is used as the cue ball, meanwhile, the fact that the user aims at the cue ball by using the ball rod is determined, the action that the user aims by using the ball rod can be accurately identified, and the billiard which the user is about to hit by using the ball rod is more accurately determined and used as the cue ball.

The embodiment of the invention provides a billiard ball motion trail real-time projection system, wherein a second determining module 3 executes the following operations:

when it is determined that the user is aiming at the goal ball using the club, a motion trajectory of the cue ball is simulated based on the toe position coordinate, the butt position coordinate, and the cue ball center position coordinate according to a preset simulation rule.

The working principle of the technical scheme is as follows:

the preset simulation rule is specifically as follows: the motion trail of the cue ball is simulated according to the position coordinates of the center of the cue ball, the position coordinates of the tip of the cue ball and the position coordinates of the tail of the cue ball in combination with preset hitting power, hitting points, the length and width of the billiard table, the friction coefficient of the billiard table and the like.

The beneficial effects of the above technical scheme are: according to the embodiment of the invention, when the user is confirmed to aim at the goal ball by using the club, the motion track of the cue ball is simulated, so that the training device is very intelligent.

The embodiment of the invention provides a billiard ball motion trail real-time projection system, which further comprises:

the self-adaptive correction module is used for automatically correcting when the projection error of the system is larger;

the adaptive correction module performs operations comprising:

when the position coordinate of the cue tip falls on the real-time billiard model, x is about to be obtained_1,tAs A, y_1,tAs B and z_1,tWhen the real-time billiard ball model is established as the C, determining that a user is hitting balls by using a billiard ball rod, and at the moment, acquiring first coordinates representing the center position of a cue ball in the billiard ball environment model at preset time intervals and outputting and combining the first coordinates into a real motion trail coordinate set;

acquiring a motion trail coordinate set corresponding to the motion trail;

calculating a projection error index of the system based on the real motion trajectory coordinate set and the motion trajectory coordinate set:

wherein error is a projection error index of the system, sigma is a preset error coefficient, and k₁、k₂And k₃Is a preset weight value, X_1,jIs the X-axis value, Y, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Y-axis value, Z, of the jth coordinate in the real motion trajectory coordinate set_1,jIs the Z-axis value, X, of the jth coordinate in the real motion trajectory coordinate set_2,jIs the X-axis value, Y, of the jth coordinate in the motion trail coordinate set_2,jIs the Y-axis value, Z, of the jth coordinate in the motion trail coordinate set_2,jIs the Z-axis value, V, of the jth coordinate in the motion trail coordinate set₁、V₂And V₃For a predetermined differential check value, Q₁、Q₂、Q₃、Q₄、Q₅And Q₆The comparison result is a preset ratio check value, n is a real motion track coordinate set or the total number of coordinates in the motion track coordinate set, and is equal to or;

when the projection error index is larger than or equal to a preset error index threshold value and/or a correction instruction input by a user is received, acquiring a characteristic position coordinate representing a preset characteristic position in the billiard ball environment model;

acquiring projection coordinates corresponding to the characteristic positions in the projection equipment according to a preset initial conversion rule;

determining a new transformation rule based on the feature location coordinates and the projection coordinates:

wherein, rule₁Rule being an X-axis transformation rule of the new transformation rules₂For the Y-axis conversion rule among the new conversion rules, O_1,rIs the X-axis value, O, of the r-th characteristic position coordinate_2,rFor the X-axis value of the r-th projection coordinate, P_1,rFor Y-axis values of r characteristic position coordinates, P_2,rIs the Y-axis value of the r-th projection coordinate, m being the characteristic position coordinate or the total number of projection coordinates;

and when projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule.

The working principle of the technical scheme is as follows:

when the coordinate of the cue tip falls on the real-time billiard model at a certain moment, namely the cue tip contacts with the billiard, determining that a user is using the cue to hit a ball, acquiring the coordinate of the center position of the cue ball during movement at preset time intervals (for example: 0.001 second) and outputting and combining (sequencing according to time sequence) the coordinate of the real movement locus; when the motion trail of the cue ball is simulated, obtaining a motion trail coordinate set corresponding to the motion trail of the cue ball; calculating a projection error index of the system based on the two sets; when the coordinates of the billiards in the billiard environment model are obtained, errors may exist in the coordinates due to movement (namely, timeliness of obtaining) of the billiards, and therefore an error coefficient needs to be introduced; each space coordinate (for example, (3,4,0.1)) in the billiard ball environment model corresponds to a projection coordinate (for example, (0.3, 0.4)) in the projection coordinate system of the projector, and if an image is projected at the coordinate (3,4,0.1), the projector can project at the coordinate (0.3, 0.4) when performing operation; because the billiards only move on the billiard table, the projection coordinate only establishes a conversion relation with the X, Y axis coordinate of the space coordinate; when the error index is larger than or equal to a preset error index threshold value (for example: 0.01) and/or a user inputs a correction instruction through a client (for example: a smart phone, a computer or a tablet), acquiring characteristic position coordinates representing preset characteristic positions (for example: six ball bag center positions or position points marked on a billiard table surface by using a marking pen in advance) in a billiard environment model; the preset initial conversion rule is specifically as follows: before the billiard table is put into use, each characteristic position corresponds to a projection coordinate; when the correction is performed, the conversion relation between the axis value of the space coordinate X, Y and the axis value of the projection coordinate X, Y is re-determined; when projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule; for example: when the track image is projected at the space coordinate (9,8,0.2), the X, Y axis values, namely 9 and 8, are converted into projection coordinates according to the new conversion relation, and then the projector is controlled to project the corresponding image at the projection coordinates.

The beneficial effects of the above technical scheme are: in the using process of the billiard table, as a user possibly leans or lies on the billiard table, the billiard table is possibly slightly displaced, the embodiment of the invention determines the projection error index of the system, and when the projection error index is larger or a correction instruction is manually input, the conversion relation between the space coordinate in the billiard environment model and the projection coordinate of the projector is corrected again, so that the condition that the projection is not accurate due to the slight displacement of the billiard table can be prevented, and the running stability of the system is greatly improved.

The embodiment of the invention provides a billiard ball motion trail real-time projection system, which further comprises:

the cue ball light ring determining module is used for determining the color and the size of the cue ball light ring and projecting the cue ball light ring to the position of a cue ball on the tabletop of the billiard table in real time through projection equipment;

the execution of the cue ball halo determining module comprises the following operations:

when it is determined that the user is hitting a ball with the cue, a second coordinate (α) representing a center position of a cue ball in the billiards environment model at the time p is acquired_p,β_p,γ_p)；

Calculating the real-time movement speed of the cue ball based on the second coordinate:

wherein v is_{cue ball}Is the real-time moving speed of the cue ball, alpha_pIs the X-axis value, beta, in the second coordinate of the cue ball at the moment p_pIs a Y-axis value, alpha, in a second coordinate of the cue ball at the moment p_p-1Is the X-axis value, beta, in the second coordinate of the cue ball at the time p-1_p-1Is a Y-axis value T in a second coordinate of the cue ball at the moment p-1_PIs the time value corresponding to the p-th time, T_p-1Is the time value corresponding to the p-1 moment, and p is more than or equal to 1;

acquiring a preset initial halo;

determining the radius of the initial halo according to the real-time movement speed of the cue ball:

R＝μ·R₀·v_{cue ball}

wherein R is the radius of the initial halo after adjustment, mu is a preset adjustment coefficient, and R is₀Is the initial radius of the initial halo, v_{cue ball}The real-time movement speed of the cue ball;

determining the color of the initial halo according to the real-time movement speed of the cue ball;

the method comprises the following steps of determining the color of an initial halo according to the real-time movement speed of a cue ball, and specifically comprises the following steps:

when the real-time movement speed is greater than a preset first threshold value, determining that the color of the initial halo is red;

when the real-time movement speed is less than or equal to a first threshold value and greater than or equal to a preset second threshold value, determining that the color of the initial halo is yellow;

when the real-time movement speed is smaller than the second threshold and larger than a preset third threshold, determining that the color of the initial halo is blue;

when the real-time movement speed is less than or equal to a third threshold value, determining that the color of the initial halo is white;

after the size and the color of the initial light ring are determined, the initial light ring is projected to a corresponding position on the table top of the billiard table through the projection equipment.

The working principle of the technical scheme is as follows:

when it is determined that the user is hitting a ball with the club, the moving speed of the cue ball is calculated according to real-time coordinates of the cue ball during the movement of the cue ball, and since the cue ball moves on the X0Y plane, the distance is calculated only based on the X, Y axis value of the two-point space coordinates; when it is determined that the user is hitting a ball with the club, a preset timer (software or hardware timer) starts to count time, each time corresponding to a time value, for example: if the time value corresponding to the p-th moment is 0.3 second and the time value corresponding to the p-1 th moment is 0.1 second, the time period is determined to be 0.2 second, and the ratio of the distance to the time is the speed; when the cue ball moves, the projection halo can be tracked in real time, and the size and the color of the halo can be determined according to the real-time movement speed of the cue ball; when the size of the light ring is determined, the adjustment coefficient can adjust the radius of the light ring according to the real-time speed of the cue ball, generally, the faster the speed is, the larger the light ring is, the smaller the speed is, and the smaller the light ring is; when determining the color of the halo, if the speed is greater than a preset first threshold (e.g., 0.5m/s), determining that the color of the halo is red, and so on, generally, the faster the speed, the warmer the color of the halo, and the slower the speed, the colder the color of the halo.

The beneficial effects of the above technical scheme are: according to the embodiment of the invention, the size and the color of the halo are determined according to the real-time motion speed of the cue ball in the motion process after the cue ball is hit, and the halo with the determined size and the determined color is projected to the real-time position of the cue ball, so that tracking projection is realized, the running speed of the billiards of a user can be indicated, and the user experience can be improved to the greatest extent.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A billiard ball motion trail real-time projection method is characterized by comprising the following steps:

acquiring a video image of the billiard table top through image acquisition equipment;

determining batting information according to the video image;

determining the movement track of the corresponding billiards according to the hitting information;

and projecting the motion trail onto the billiard table top through projection equipment.

2. The method for projecting a cue movement track in real time according to claim 1, wherein the determining of the hitting information according to the video image specifically comprises:

constructing a billiard environment model based on the video image according to a preset construction rule;

obtaining the coordinate (a) representing the ith billiard ball center position in the billiard ball environment model at the t-th moment_i，t，b_i，t，c_i，t) Coordinates (x) indicating the position of the tip of the club_1，t，y_1，t，z_1，t) And the coordinates (x) of the position of the rod tail_2，t，y_2，t，z_2，t)；

Determining a linear equation for the club based on the coordinates of the toe position and the coordinates of the butt position:

wherein x, y and z are preset space linear equation representation parameters;

constructing a billiard real-time model based on the coordinates of the billiard center position:

(A，B，C)

wherein (A, B, C) are coordinates representing any point on the billiard ball, and r is₀Is a predetermined radius of the billiard ball, [ ….]Represents a section;

if a point (A) exists on the billiard ball real-time model₀，B₀，C₀) Falling on the straight line of the ball arm to be A₀As parameters x, B₀As parameters y and C₀When the parameters z are substituted into the ball arm linear equation to be established, the corresponding billiards are listed in the sequence to be screened;

counting the distance between the center position coordinate and the cue tip position coordinate of each billiard ball in the sequence to be screened, taking the billiard ball corresponding to the minimum distance as a cue ball, and meanwhile, determining that a user aims at the target ball by using a cue ball;

the determined information that determines the cue ball and that the user is aiming the cue ball using the club will be used as the shot information.

3. The method for projecting the cue ball movement track in real time according to claim 2, wherein the determining the movement track of the corresponding cue ball according to the hitting information specifically comprises:

and when the user is determined to aim at the goal ball by using the club, simulating the motion track of the cue ball according to a preset simulation rule based on the rod tip position coordinate, the rod tail position coordinate and the cue ball center position coordinate.

4. The method for projecting a cue motion trail in real time as claimed in claim 2, further comprising:

x when the tip position coordinate falls on the real-time billiard model_1，tAs A, y_1，tAs B and z_1，tWhen the real-time billiard ball model is established as a C-inch billiard ball real-time model, determining that a user is hitting a billiard ball by using a billiard ball, and at the moment, acquiring first coordinates representing the center position of the cue ball in the billiard ball environment model at preset time intervals and outputting and combining the first coordinates into a real motion track coordinate set;

acquiring a motion trail coordinate set corresponding to the motion trail;

calculating a projection error index of a system based on the real motion trajectory coordinate set and the motion trajectory coordinate set:

wherein error is a projection error index of the system, sigma is a preset error coefficient, and k₁、k₂And k₃Is a preset weight value, X_1，jIs the X-axis value, Y, of the jth coordinate in the real motion trajectory coordinate set_1，jIs the Y-axis value, Z, of the jth coordinate in the real motion trajectory coordinate set_1，jIs the Z-axis value, X, of the jth coordinate in the real motion trajectory coordinate set_2，jIs the X-axis value, Y, of the jth coordinate in the motion trail coordinate set_2，jIs the Y-axis value, Z, of the jth coordinate in the motion trail coordinate set_2，jIs the Z-axis value, V, of the jth coordinate in the motion trail coordinate set₁、V₂And V₃For a predetermined differential check value, Q₁、Q₂、Q₃、Q₄、Q₅And Q₆The comparison result is a preset ratio check value, n is a real motion track coordinate set or the total number of coordinates in the motion track coordinate set, and is equal to or;

when the projection error index is equal to or greater than a preset error index threshold value and/or a correction instruction input by a user is received, acquiring a characteristic position coordinate representing a preset characteristic position in the billiard ball environment model;

acquiring projection coordinates corresponding to the characteristic positions in the projection equipment according to a preset initial conversion rule;

determining a new transformation rule based on the feature location coordinates and the projection coordinates:

wherein, rule₁Rule being an X-axis transformation rule of the new transformation rules₂For the Y-axis conversion rule among the new conversion rules, O_1，rIs the X-axis value, O, of the r-th characteristic position coordinate_2，rFor the X-axis value of the r-th projection coordinate, P_1，rFor Y-axis values of r characteristic position coordinates, P_2，rIs the Y-axis value of the r-th projection coordinate, m being the characteristic position coordinate or the total number of projection coordinates;

and when the projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule.

5. A billiard ball movement locus real-time projection method as claimed in claim 4, wherein when it is determined that the user is hitting a ball with a billiard ball, a second coordinate (α) representing the center position of the cue ball in the billiard ball environment model at the time point p is obtained_p，β_p，γ_p)；

Calculating the real-time movement speed of the cue ball by the second coordinate:

wherein v is_{cue ball}Is the real-time moving speed of the cue ball, alpha_pIs the X-axis value, beta, in the second coordinate of the cue ball at the moment p_pIs a Y-axis value, alpha, in a second coordinate of the cue ball at the moment p_p-1Is the X-axis value, beta, in the second coordinate of the cue ball at the time p-1_p-1Is a Y-axis value T in a second coordinate of the cue ball at the moment p-1_PIs the time value corresponding to the p-th time, T_p-1Is the time value corresponding to the p-1 moment, and p is more than or equal to 1;

acquiring a preset initial halo;

determining the radius of the initial halo according to the real-time movement speed of the cue ball:

R＝μ·R₀·v_{cue ball}

wherein R is the radius of the initial halo after adjustment, and mu is presetAdjustment coefficient, R₀Is the initial radius of the initial halo, v_{cue ball}The real-time movement speed of the cue ball;

determining the color of the initial halo according to the real-time movement speed of the cue ball;

the method comprises the following steps of determining the color of the initial aureole according to the real-time movement speed of a cue ball, and specifically comprises the following steps:

when the real-time movement speed is greater than a preset first threshold value, determining that the color of the initial halo is red;

when the real-time movement speed is less than or equal to the first threshold and greater than or equal to a preset second threshold, determining that the color of the initial halo is yellow;

when the real-time movement speed is smaller than the second threshold and larger than a preset third threshold, determining that the color of the initial halo is blue;

when the real-time movement speed is less than or equal to the third threshold value, determining that the initial halo color is white;

and after the size and the color of the initial light ring are determined, the initial light ring is projected to a corresponding position on the table top of the billiard table through the projection equipment.

6. A billiard ball motion trail real-time projection system is characterized by comprising:

the acquisition module is used for acquiring a video image of the billiard table top through image acquisition equipment;

the first determining module is used for determining batting information according to the video image;

the second determining module is used for determining the movement track of the corresponding billiards according to the hitting information;

and the projection module is used for projecting the motion trail onto the billiard table top through projection equipment.

7. The cue motion trail real-time projection system of claim 6, wherein the first determining module performs operations comprising:

constructing a billiard environment model based on the video image according to a preset construction rule;

obtaining the coordinate (a) representing the ith billiard ball center position in the billiard ball environment model at the t-th moment_i，t，b_i，t，c_i，t) Coordinates (x) indicating the position of the tip of the club_1，t，y_1，t，z_1，t) And the coordinates (x) of the position of the rod tail_2，t，y_2，t，z_2，t)；

Determining a linear equation for the club based on the coordinates of the toe position and the coordinates of the butt position:

wherein x, y and z are preset space linear equation representation parameters;

constructing a billiard real-time model based on the coordinates of the billiard center position:

(A，B，C)

wherein (A, B, C) are coordinates representing any point on the billiard ball, and r is₀Is a predetermined radius of the billiard ball, [ ….]Represents a section;

if a point (A) exists on the billiard ball real-time model₀，B₀，C₀) Falling on the straight line of the ball arm to be A₀As parameters x, B₀As parameters y and C₀When the parameters z are substituted into the ball arm linear equation to be established, the corresponding billiards are listed in the sequence to be screened;

counting the distance between the center position coordinate and the cue tip position coordinate of each billiard ball in the sequence to be screened, taking the billiard ball corresponding to the minimum distance as a cue ball, and meanwhile, determining that a user aims at the target ball by using a cue ball;

the determined information that determines the cue ball and that the user is aiming the cue ball using the club will be used as the shot information.

8. The cue motion trail real-time projection system of claim 7, wherein the second determining module performs operations comprising:

and when the user is determined to aim at the goal ball by using the club, simulating the motion track of the cue ball according to a preset simulation rule based on the rod tip position coordinate, the rod tail position coordinate and the cue ball center position coordinate.

9. A cue motion trail real-time projection system as claimed in claim 7 further comprising:

the self-adaptive correction module is used for automatically correcting when the projection error of the system is larger;

the adaptive correction module performs operations comprising:

x when the tip position coordinate falls on the real-time billiard model_1，tAs A, y_1，tAs B and z_1，tWhen the real-time billiard ball model is established as a C-inch billiard ball real-time model, determining that a user is hitting a billiard ball by using a billiard ball, and at the moment, acquiring first coordinates representing the center position of the cue ball in the billiard ball environment model at preset time intervals and outputting and combining the first coordinates into a real motion track coordinate set;

acquiring a motion trail coordinate set corresponding to the motion trail;

calculating a projection error index of a system based on the real motion trajectory coordinate set and the motion trajectory coordinate set:

wherein error is a projection error index of the system, sigma is a preset error coefficient, and k₁、k₂And k₃Is a preset weight value, X_1，jIs the X-axis value, Y, of the jth coordinate in the real motion trajectory coordinate set_1，jIs the Y-axis value, Z, of the jth coordinate in the real motion trajectory coordinate set_1，jIs the Z-axis value, X, of the jth coordinate in the real motion trajectory coordinate set_2，jIs the X-axis value, Y, of the jth coordinate in the motion trail coordinate set_2，jIs the Y-axis value, Z, of the jth coordinate in the motion trail coordinate set_2，jIs the Z-axis value, V, of the jth coordinate in the motion trail coordinate set₁、V₂And V₃For a predetermined differential check value, Q₁、Q₂、Q₃、Q₄、Q₅And Q₆The comparison result is a preset ratio check value, n is a real motion track coordinate set or the total number of coordinates in the motion track coordinate set, and is equal to or;

when the projection error index is larger than or equal to a preset error index threshold value and/or a correction instruction input by a user is received, acquiring a characteristic position coordinate representing a preset characteristic position in the billiard ball environment model;

acquiring projection coordinates corresponding to the characteristic positions in the projection equipment according to a preset initial conversion rule;

determining a new transformation rule based on the feature location coordinates and the projection coordinates:

wherein, rule₁Rule being an X-axis transformation rule of the new transformation rules₂For the Y-axis conversion rule in the new conversion rule，O_1，rIs the X-axis value, O, of the r-th characteristic position coordinate_2，rFor the X-axis value of the r-th projection coordinate, P_1，rFor Y-axis values of r characteristic position coordinates, P_2，rIs the Y-axis value of the r-th projection coordinate, m being the characteristic position coordinate or the total number of projection coordinates;

and when the projection is carried out through the projection equipment, the newly determined conversion rule is executed after replacing the current conversion rule.

10. A cue motion trail real-time projection system as claimed in claim 7 further comprising:

the cue ball light ring determining module is used for determining the color and the size of the cue ball light ring and projecting the cue ball light ring to the position of a cue ball on the tabletop of the billiard table in real time through projection equipment;

the execution of the cue ball halo determining module comprises the following operations:

acquiring a second coordinate (alpha) representing the center position of the cue ball in the billiard ball environment model at time p when it is determined that the user is hitting the ball with the cue ball_p，β_p，γ_p)；

Calculating the real-time movement speed of the cue ball based on the second coordinates:

wherein v is_{cue ball}Is the real-time moving speed of the cue ball, alpha_pIs the X-axis value, beta, in the second coordinate of the cue ball at the moment p_pIs a Y-axis value, alpha, in a second coordinate of the cue ball at the moment p_p-1Is the X-axis value, beta, in the second coordinate of the cue ball at the time p-1_p-1Is a Y-axis value T in a second coordinate of the cue ball at the moment p-1_PIs the time value corresponding to the p-th time, T_p-1Is the time value corresponding to the p-1 moment, and p is more than or equal to 1;

acquiring a preset initial halo;

determining the radius of the initial halo according to the real-time movement speed of the cue ball:

R＝μ·R₀·v_{cue ball}

wherein R is the radius of the initial halo after adjustment, mu is a preset adjustment coefficient, and R is₀Is the initial radius of the initial halo, v_{cue ball}The real-time movement speed of the cue ball;

determining the color of the initial halo according to the real-time movement speed of the cue ball;

the method comprises the following steps of determining the color of the initial aureole according to the real-time movement speed of a cue ball, and specifically comprises the following steps:

when the real-time movement speed is greater than a preset first threshold value, determining that the color of the initial halo is red;

when the real-time movement speed is less than or equal to the first threshold and greater than or equal to a preset second threshold, determining that the color of the initial halo is yellow;

when the real-time movement speed is smaller than the second threshold and larger than a preset third threshold, determining that the color of the initial halo is blue;

when the real-time movement speed is less than or equal to the third threshold value, determining that the initial halo color is white;

and after the size and the color of the initial light ring are determined, the initial light ring is projected to a corresponding position on the table top of the billiard table through the projection equipment.

Images