CN113617015A

CN113617015A - Ball hitting assisting method

Info

Publication number: CN113617015A
Application number: CN202110925734.0A
Authority: CN
Inventors: 田勇
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2021-11-09

Abstract

The embodiment of the invention discloses a ball hitting auxiliary method, which is based on ball hitting auxiliary equipment comprising a camera unit and an auxiliary display unit, wherein the camera unit and the auxiliary display unit are arranged on the ball hitting auxiliary equipment; the method comprises the following steps: acquiring a target hitting image by a camera unit, wherein the target hitting image at least comprises a cue ball, a target ball and a target bag opening; calculating a hitting point and/or a hitting direction according to the position information of the cue ball, the target ball and the opening of the target bag in the target hitting image, wherein the hitting point and/or the hitting direction are the hitting point and/or the hitting direction for hitting the cue ball to hit the target ball so as to enable the target ball to enter the opening of the target bag; the hitting point and/or hitting direction are displayed on the billiard table surface in a preset mode through the auxiliary display unit, so that a player can hit a cue ball according to the hitting point and/or hitting direction to hit a target ball into the target bag opening. By adopting the embodiment of the invention, the portability and the convenience of billiard auxiliary can be improved, and the accuracy of auxiliary hitting can be improved.

Description

Ball hitting assisting method

Technical Field

The invention relates to the technical field of machine vision and the field of billiards, in particular to a batting assisting method.

Background

With the development of computer vision technology, billiard training or billiard games can be assisted by various computer devices, for example, scoring is assisted by the computer devices, and for example, batting is assisted by the computer devices, so that the convenience of billiard training and billiard games is greatly improved.

In a related scheme of assisting a player in hitting a ball through computer equipment, a camera device arranged on a billiard table surface can be used for acquiring an image of the billiard table surface, then the hitting direction and/or hitting point of the next hitting ball can be calculated according to the position of each ball in the image, and then the hitting direction and/or hitting point can be displayed through a display device (for example, a display device arranged on the billiard table surface) connected with the camera device so as to assist the player in aiming and hitting the ball, and a better hitting effect can be achieved. The technology can be used for assisting players in batting in the processes of billiard teaching, billiard training, amateur billiard games and the like.

However, in these solutions for assisting the ball-striking with a computer device, a display device (e.g., a display screen) disposed at a fixed position is required to show the ball-striking direction and/or point, and the player strikes the ball by viewing the display on the display device. However, in the posture of the player when preparing to hit the ball, it is inconvenient to observe the corresponding indication information, resulting in poor effect of the corresponding auxiliary hitting. Moreover, the corresponding computer equipment is fixedly installed, so that the realization cost is high, the movement is not convenient, the convenience of the corresponding ball hitting assistance is insufficient, and the corresponding ball hitting assistance scene cannot be expanded.

That is to say, the manner of assisting in hitting the ball through the computer device in the related art has insufficient convenience, and does not achieve a good ball hitting effect.

Disclosure of Invention

In this regard, in the present embodiment, a ball striking assisting method is provided that assists a player in striking a ball by a portable ball striking assisting device, and improves the operational convenience and ball striking accuracy of the ball striking assisting system.

In the invention, a ball hitting auxiliary method is provided, and the method is based on a ball hitting auxiliary device which comprises a camera unit and an auxiliary display unit which are arranged on the ball hitting auxiliary device;

the method comprises the following steps:

acquiring a target hitting image through the camera unit, wherein the target hitting image at least comprises a cue ball, a target ball and a target bag opening;

calculating auxiliary hitting parameters according to the position information of a cue ball, a target ball and a target bag opening in the target hitting image, wherein the auxiliary hitting parameters comprise one or more of a hitting point, an aiming point and a hitting direction, and the hitting point, the aiming point and the hitting direction are the hitting point, the aiming point and the hitting direction for hitting the cue ball to hit the target ball so as to enable the target ball to enter the target bag opening;

the auxiliary batting parameters are displayed on the billiard table surface in a preset mode through the auxiliary display unit, so that a player can hit a cue ball according to a batting point, an aiming point and a batting direction to hit a target ball into a target bag opening.

Optionally, the step of acquiring an image of the target hitting ball by the camera unit further includes:

judging whether the image acquired by the camera unit contains a cue ball, a target ball and a target bag opening;

if so, taking the acquired image as the target batting image;

and if not, generating a camera shooting position adjusting instruction according to the acquired image, adjusting the position of the camera shooting unit or the batting auxiliary equipment according to the camera shooting position adjusting instruction, enabling the adjusted image acquired by the camera shooting unit to comprise a cue ball, a target ball and a target bag opening, and taking the acquired image as the target batting image.

Optionally, the ball striking aid further comprises an alarm unit, the method further comprising: controlling the alarm unit to display a preset position alarm signal according to the camera shooting position adjusting instruction so that a player can adjust the position or the direction of the auxiliary batting equipment, and an image collected by the camera shooting unit after adjustment comprises a cue ball, a target ball and a target bag opening;

or the batting auxiliary device further comprises a first adjusting mechanism, wherein the first adjusting mechanism is connected with the camera shooting unit and is used for adjusting the position and/or the direction of the camera shooting unit; the method further comprises the following steps: and controlling the first adjusting mechanism to adjust the position and/or the direction of the camera shooting unit according to the camera shooting position adjusting instruction so as to enable the adjusted image collected by the camera shooting unit to comprise a cue ball, a target ball and a target bag mouth.

Optionally, the target hitting image is a depth image, and the target hitting image further includes depth information corresponding to the cue ball, the target ball and the target pocket opening;

the step of calculating the hitting point and/or the hitting direction according to the position information of the cue ball, the target ball and the target bag mouth in the target hitting image further comprises the following steps:

and calculating a hitting route according to the depth information of the target, the target ball and the pocket of the target and the coordinate information of the cue ball, the target ball and the pocket of the target in the target hitting image, wherein the hitting route is a hitting route for hitting the cue ball to hit the target ball so as to enable the target ball to enter the pocket of the target ball, and the hitting route comprises a hitting point, an aiming point and a hitting direction.

Optionally, the target hitting image is a one-dimensional image;

the step of acquiring a target hitting image by the camera unit further includes:

extracting a target one-dimensional batting image of the target batting image, wherein the target batting image is a pixel area corresponding to one row, one column or one pixel line, which contains a cue ball, a target ball and a target bag opening, in the target batting image; or, a one-dimensional hitting image of the target is acquired through the camera shooting unit;

and determining depth information and/or position information of the cue ball, the target ball and the target bag opening according to the target one-dimensional batting image.

Optionally, after the step of acquiring the target hitting image by the camera unit, the method further includes:

preprocessing the target ball hitting image so that the target ball hitting image meets a preset condition, wherein the preset condition comprises at least one of the following conditions:

the target batting image meets preset size information;

the target batting image is in a preset coordinate system;

and the target ball, the cue ball and the target bag opening in the target batting image meet the preset position information.

Optionally, after the step of calculating the auxiliary hitting parameters according to the position information of the cue ball, the target ball and the target pocket opening in the target hitting image, the method further includes:

transforming the hitting point, the aiming point and/or the hitting direction into a hitting point, an aiming point and/or a hitting direction under a third coordinate system corresponding to the auxiliary display unit;

and displaying the transformed hitting point, aiming point and/or hitting direction under the third coordinate system through the auxiliary display unit.

Optionally, the method further includes:

if a plurality of selectable balls are contained in the target hitting image, determining a target ball in the plurality of selectable balls;

wherein the step of determining a target ball among the plurality of selectable balls further comprises:

determining hitting parameters of each selectable ball, wherein the hitting parameters comprise one or more of hitting direction range, hitting point range, goal probability and the like, and one of the selectable balls is selected as the target ball according to the hitting parameters;

or receiving a target ball selection instruction, and determining the target ball in the plurality of selectable balls according to target ball related parameters contained in the target ball selection instruction.

Optionally, the method further includes:

if the target batting image comprises a plurality of optional bag openings, determining a target bag opening from the plurality of optional bag openings;

wherein the step of determining a target pocket among the plurality of selectable pockets further comprises:

determining a hitting parameter of each optional bag opening, wherein the hitting parameter comprises a hitting probability, and one optional bag opening is selected from the multiple optional bag openings as the target bag opening according to the hitting parameter;

or receiving a target bag opening selection instruction, and determining the target bag opening in the plurality of optional bag openings according to the target bag opening related parameters contained in the target bag opening selection instruction.

Optionally, the auxiliary display unit includes a laser emitting module or a projection module;

the step of displaying the hitting point, the aiming point and/or the hitting direction on the billiard table surface in a preset manner through the auxiliary display unit further comprises:

displaying the hitting point, the aiming point and/or the hitting direction on the billiard table surface in a laser emitting mode through the laser emitting module;

or the hitting point, the aiming point and/or the hitting direction are/is displayed on the billiard table surface in a projection mode through the projection module.

The embodiment of the invention has the following beneficial effects:

in the embodiment of the application, after the ball hitting auxiliary method is adopted, a target ball hitting image is collected through a camera shooting unit, wherein the target ball hitting image at least comprises a mother ball, a target ball and a target bag opening; and calculating a hitting point, an aiming point and/or a hitting direction according to the position information of the cue ball, the target ball and the target bag opening in the target hitting image, and displaying the hitting point, the aiming point and/or the hitting direction on the billiard table top in a preset mode, such as laser, projection and the like, through the auxiliary display unit so that a player can hit the cue ball according to the hitting point, the aiming point and/or the hitting direction to hit the target ball into the target bag opening. That is, the auxiliary hitting function is integrated on a portable and movable auxiliary hitting device, so that a player can carry, place and use the auxiliary hitting device to assist hitting during hitting according to needs, and the auxiliary hitting convenience is improved; and the auxiliary display unit of the auxiliary batting equipment is used for displaying the batting direction of the auxiliary batting, so that a player can directly and visually batting according to the batting direction, the batting accuracy is improved, and the billiard training efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Wherein:

FIG. 1 is a schematic view of a ball striking aid according to one embodiment;

FIG. 2 is a schematic view of an application of the ball striking aid in one embodiment;

FIG. 3 is a schematic illustration of a route of impact in one embodiment;

FIG. 4 is a schematic illustration of a route of impact in one embodiment;

FIG. 5 is a schematic illustration of a route of impact in one embodiment;

FIG. 6 is a schematic flow diagram of a ball striking assistance method in one embodiment;

FIG. 7 is a schematic view of a ball striking aid in one embodiment;

FIGS. 8(a) - (d) are schematic diagrams illustrating the image effect of an image of a target shot in one embodiment;

FIGS. 9(a) - (d) are schematic diagrams illustrating the determination of positional information for a cue ball, a target ball, and a target pocket in one embodiment;

FIGS. 10(a) - (b) are schematic diagrams illustrating the determination of positional information for a cue ball, a target ball, and a target pocket in one embodiment;

FIG. 11 is a schematic diagram of a calculation process for calculating a hitting point, an aiming point, and a hitting direction in one embodiment;

fig. 12 is a schematic view showing a structure of a ball striking assisting apparatus for operating the above ball striking assisting method in one embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to improve the convenience of the ball hitting auxiliary device and the accuracy of auxiliary ball hitting, in the embodiment of the application, the ball hitting auxiliary device and the ball hitting auxiliary method based on the ball hitting auxiliary device are provided, so that the convenience and the portability of ball hitting assistance through a computer device can be improved, the accuracy and the ball entering probability of auxiliary ball hitting can be improved, and the user experience is improved.

Specifically, referring to fig. 1, fig. 1 shows a schematic view of the configuration of the ball striking assisting device. The ball striking assisting device 10 includes a camera unit 101, a processing unit 102, and an auxiliary display unit 103.

In this embodiment, in order to improve the convenience of the ball hitting assistance, the ball hitting assistance device is not a general camera shooting and collecting device installed above the billiard table surface, but may be placed on the billiard table surface or around the billiard table, and may be moved at any time as required, so that the player may carry or move the ball hitting assistance device as required, and the limitation that the ball hitting assistance training must be performed on the billiard table on which the corresponding device is installed is avoided.

Referring to fig. 2, fig. 2 shows a schematic view of an application of the ball striking aid 10 in which the ball striking aid is placed at the edge of the table top of a billiard table.

In other embodiments, the ball striking assisting device may be placed on a rack or the like, and the image pickup unit 101 and the auxiliary display unit 103 of the ball striking assisting device may be arranged on the billiard table surface in a flush manner or a higher manner, so that the image pickup unit 101 may capture relevant image information on the billiard table surface, and the auxiliary display unit 103 may display relevant information on the auxiliary striking ball on the billiard table surface.

The respective modules of the image pickup unit 101, the processing unit 102, the auxiliary presentation unit 103, and the like included in the ball striking assisting apparatus 10 will be described in detail herein.

The image capturing unit 101 may capture an image of the whole or a part of the billiard table, and in this embodiment, in order to calculate information related to a hitting route such as a hitting direction, a hitting point, and an aiming point, the image capturing unit 101 needs to capture at least an image including a cue ball, a target ball, and a target bag opening as a target hitting image.

The image capturing unit 101 includes at least one camera (that is, may include one camera or a plurality of cameras), and the camera type may be a general camera or a depth camera, and the dot matrix dimension may be one-dimensional or two-dimensional. A camera, also referred to herein as a still camera, a video camera, a webcam, etc., broadly refers to a device that may be used to capture a single frame of an image, multiple frames of an image, or video.

Common cameras can acquire images similar to human vision, and comprise color cameras, gray-scale cameras (commonly called black and white cameras), infrared cameras and the like; depth cameras are capable of acquiring depth images, including laser radars, ultrasonic radars, electromagnetic wave radars, structured light cameras, and the like. Two or more cameras, which may be of the same type or of different types, may be used in combination; for example, two color cameras may be used to form a binocular camera array, or a color camera and a structured light camera may be used in combination, and so on. Next, two embodiments that will be mainly explained are: collecting a common image having a plurality of rows and a plurality of columns of pixels using a two-dimensional color camera, i.e., a single color camera of a two-dimensional lattice; a depth image having only one row of pixels is acquired using a one-dimensional depth camera, i.e. a single depth camera of a one-dimensional lattice.

In this embodiment, the image capturing unit 101 captures a color image, a grayscale image, or a depth image as a target hitting image, and in another embodiment, the target hitting image may also be a one-dimensional depth image, a directly captured one-dimensional depth image (target one-dimensional depth image) derived from the image capturing unit 101, or a pixel region corresponding to one row, one column, or one line extracted from the complete depth image as a target one-dimensional depth image.

The processing unit 102 may perform a calculation based on the target ball hitting image to obtain position information of the target ball, the cue ball and the target bag mouth, wherein the position information may include one or more of a coordinate position and depth information, and then calculate a ball hitting route for hitting the target ball by hitting the cue ball to send the target ball into the target bag mouth, wherein the ball hitting route further includes a ball hitting point, an aiming point and a ball hitting direction.

In one embodiment, the processing unit 102 may be a CPU, an integrated circuit, or other processing unit, which is not limited in this embodiment. In another embodiment, the ball striking aid device 10 may be communicatively coupled to other devices, and the calculation of the ball striking route may be calculated by other computer devices coupled to the ball striking aid device 10.

The auxiliary display unit 103 is a device that can display at least information about a hitting point, an aiming point, and a hitting direction included in a hitting route. In this embodiment, the auxiliary display unit 103 may visually display information such as a hitting point, an aiming point, a hitting direction, and the like, for example, the hitting point, the aiming point, and/or the hitting direction may be displayed in a visual display manner such as laser or projection, so that a player may visually see the displayed hitting point, the aiming point, and/or the hitting direction in a state of accurate hitting, and then hit a ball, so as to achieve an effect of auxiliary hitting. In a specific embodiment, the auxiliary display unit 103 may be a laser emitting unit, a projection unit, or the like, and displays a hitting point, an aiming point, and/or a hitting direction on the billiard table surface or above the billiard table surface by means of laser emission, projection, or holographic projection.

Before describing the ball striking assisting method in detail, the principle of striking a ball of a billiard ball will be described first.

A cue ball is a ball that a cue can legally hit (e.g., the white ball in snooker), and a target ball is a ball that the cue ball can legally hit and is expected to enter a pocket. For any cue item, the size of the ball is determined, for example, snooker is 52.5 mm in diameter and chinese billiards (eight balls) is 57.15 mm in diameter. The expected hitting effect is: the player strikes the hitting point on the cue ball by operating the club to move the cue ball and hit the aiming point on the target ball to move the target ball into the target bag (see fig. 3 for details, and fig. 3 shows a schematic view of the corresponding hitting route). The aperture size of the ball bag is generally slightly larger than the diameter of the target ball, so that the target ball has a certain range of bag entering directions. The aperture center of the target ball pocket is usually taken as the ball center position of the target ball to be inserted into the pocket, so as to obtain the largest possible bag insertion direction range.

During the billiard ball hitting process, a virtual ball needs to be imagined to determine the expected track (hitting route) of the cue ball, the size of the virtual ball is the same as that of the billiard ball body, the virtual ball is tangential to the surface of the target ball, and the line connecting the center of the virtual ball and the center of the target ball points to the position of the center of the target ball expected to enter the bag. That is, the center of the ball of the target ball expected to enter the pocket is connected to the center of the target ball by a line and the diameter of the ball is extended, so that the center of the imaginary ball, that is, the center of the ball to which the cue ball needs to travel to hit the target ball pocket, is obtained. The straight line passing through the center of the cue ball and the center of the phantom ball is the line of sight, which is referred to as the center line of sight in this embodiment. Obviously, the center line of sight is parallel to the table top and its height (i.e., its distance from the billiard table surface) is the length of the radius of the sphere. For snooker, the height of the central hairline is 26.25 mm.

Referring to fig. 4, two ball hitting paths are shown, where the center line intersects the target ball, which is called the thick ball case, and vice versa, where the center line does not intersect the target ball, which is called the thin ball case.

While the function of calculating a stroke route is provided in the related art, in the present embodiment, in order to assist the stroke more effectively, a function of calculating and indicating a stroke route (a stroke point and/or a stroke direction) is provided, as shown in fig. 5. For the thick ball condition, intersecting the central aiming line with the surface of the target ball, wherein the intersection point is the central aiming point; for thin balls, the center aiming point cannot be obtained, but an edge aiming line can be calculated and intersected with the surface of the target ball, and the intersection point is the edge aiming point. Here the edge hairline is a straight line parallel to and of the same height as the center hairline and tangent to the surface of the cue ball. In the case of a thin ball, there must be an edge aiming line that can intersect the target ball surface, passing through the edge points on the left or right side of the cue ball, so that edge aiming points can be obtained. The intersection point here means an intersection point which can be seen from the direction of the cue ball, and does not take into consideration the intersection point of the back surface of the target ball.

A ball striking assisting method based on the upper ball striking assisting device 10 will be described in detail below.

Specifically, referring to fig. 6, fig. 6 is a flow chart of a ball striking assistance method, which is implemented based on the ball striking assistance device 10 shown in fig. 1 to provide ball striking assistance to a player. Wherein the ball striking assisting method includes steps S101 to S103 shown in fig. 6:

step S101: and acquiring a target hitting image through the camera unit, wherein the target hitting image at least comprises a cue ball, a target ball and a target bag opening.

The target hitting image must include the cue ball, the target ball and the target bag opening, otherwise, the subsequent hitting route cannot be calculated, and therefore, in this embodiment, after the image is captured by the image capturing unit, it is further necessary to determine whether the captured image includes the cue ball, the target ball and the target bag opening, otherwise, adjustment is required. Specifically, whether an image acquired by a camera unit contains a cue ball, a target ball and a target bag opening is judged; if so, taking the acquired image as the target batting image, and carrying out subsequent calculation and auxiliary display on batting routes; if not, the position of the camera needs to be adjusted.

In a specific embodiment, the process of adjusting the position of the camera specifically includes: and generating a shooting position adjusting instruction according to the image without the cue ball, the target ball and the target bag opening, wherein the shooting position adjusting instruction is used for indicating the next adjustment of the position and the direction of the shooting unit.

The adjustment of the camera unit can be divided into two modes, one is manual adjustment and the other is automatic adjustment.

In the manual adjustment scheme, a player is required to manually adjust the position or the direction of the ball striking assisting device or the camera unit, and in order to remind the player to manually adjust, an alarm unit (see the alarm unit 104 in fig. 7) is further disposed on the ball striking assisting device, and the alarm unit may be a microphone device, a display device (such as a display screen), or a vibration device (controlling the ball striking assisting device to vibrate). After the camera position adjustment instruction is generated, the processing unit 102 needs to control the alarm unit to display a preset position alarm signal, which may be a preset sound signal, a preset image display signal, or a preset vibration signal. The sportsman is after receiving this position alarm signal, and manual position or the direction to batting auxiliary assembly or the position or the direction of camera unit are adjusted to make cue ball, target sack can contain the shooting scope of camera unit in, thereby make the image that camera unit gathered can include target ball, cue ball, target sack.

Where adjustment of the position or orientation of the ball striking aid device may refer to manually adjusting the position of the ball striking aid device or moving the device to change orientation. The position or direction of the camera unit may be adjusted based on a first adjusting mechanism (see, in particular, the first adjusting mechanism 1011 in fig. 7) connected to the camera unit, and the position of the camera unit in the ball striking assisting device and the direction of the camera unit (the shooting direction of the camera unit in the direction) may be changed by manually adjusting the first adjusting mechanism, so that the adjusted image captured by the camera unit includes a cue ball, a target ball, and a target bag mouth.

In the scheme of automatically adjusting the camera unit, in the process of generating the camera position adjusting instruction according to the image, the camera position adjusting instruction is generated according to whether the image contains one or more positions of the cue ball, the target bag mouth and the contained cue ball, the target ball and the target bag mouth, and the camera position adjusting instruction contains related contents such as adjusting direction, adjusting amplitude and the like, for example, adjusting upwards, adjusting downwards, adjusting leftwards, adjusting rightwards and the like. That is to say, the position of the camera unit or the ball hitting auxiliary device is adjusted according to the camera position adjusting instruction, so that the adjusted image acquired by the camera unit comprises a cue ball, a target ball and a target bag opening, and the acquired image is used as the target ball hitting image. In another embodiment, under the condition that the image acquired by the camera unit does not contain the cue ball, the target ball and the target bag opening, the position and the direction of the camera unit are adjusted according to the camera position adjusting instruction, the image is continuously acquired in the adjusting process, whether the acquired image contains the cue ball, the target ball and the target bag opening or not is judged, if yes, the adjustment is stopped, and the acquired image is used as the target hitting image. In another embodiment, the position of the cue ball, the target ball and the target bag mouth in the image may also be defined, for example, the position of the cue ball, the target ball and the target bag mouth in the image is the image center position, or a preset image area, or the position of the cue ball, the target ball and the target bag mouth in the image is not a preset image area (for example, a boundary area of the image). In another embodiment, it is not only required that the image include a cue ball, a target ball, and a target pocket, but also that the cue ball, the target ball, and the target pocket are displayed completely in the image (e.g., whether the acquisition of the cue ball or the pocket is complete or blocked).

As shown in fig. 7, the ball striking aid 10 further includes a first adjustment mechanism 1011 connected to the camera unit 101 for adjusting the position and/or orientation of the camera unit. The processing unit 102 controls the first adjustment mechanism 1011 to adjust the position and/or orientation of the camera unit to achieve the effect of automatically adjusting the position and orientation of the camera unit.

In another embodiment, not only the position or direction of the ball striking assisting device or the camera unit can be adjusted, but also the camera related parameters of the camera unit, such as focal length, focusing, exposure time, white balance and the like, can be further adjusted manually or automatically, so as to achieve the best shooting effect, so that the effect of the collected target ball striking image is optimal, and the accuracy of the ball striking route calculated according to the optimal effect is high.

The specific image effect of the target shot image will be described below.

Referring to fig. 8(a), a schematic diagram of a target hitting image collected by a depth camera using a two-dimensional lattice is shown, in which darker pixels represent larger depth values; if a general camera using a two-dimensional lattice is used, it captures the image effect of the target hitting image as shown in fig. 8 (c). If a one-dimensional dot matrix depth camera is used, the image effect of the acquired target hitting image is equivalent to that of cutting out a middle row (pixel rows, pixel columns or pixel lines at other positions are also possible) from fig. 8(a), that is, a row of pixel regions as shown in fig. 8 (b); since the acquired target hitting image is a one-dimensional image, it can also be expressed in the form of a function curve, as shown in fig. 8(d), which is also referred to as a depth curve. That is to say, the depth information corresponding to the target ball, the cue ball and the target pocket can be determined according to the depth image or the depth curve.

According to different designs of the depth camera and whether the collected target batting image is corrected (the correction process is the transformation of a coordinate system), the coordinate system in (d) of fig. 8 can be a rectangular coordinate system or a polar coordinate system, if the coordinate system is the rectangular coordinate system, x in the graph represents a transverse distance value, and z represents a depth value; in the case of a polar coordinate system, x represents a lateral angle value and z represents a depth value.

If a depth camera or a general camera using a two-dimensional lattice, i.e., a camera corresponding to fig. 8(a) or 8(c), has a field of view of a three-dimensional rectangular pyramid shape, there is no special requirement for the orientation of the camera; on the other hand, if the field of view of the depth camera using the one-dimensional lattice, i.e., the cameras corresponding to fig. 8(b) and 8(d), is a fan shape of a plane, the preferred embodiment of adjusting the camera orientation requires: the visual field is in the horizontal direction, namely parallel to the table surface, and the height of the visual field is the same as that of the target ball and the cue ball. Taking the application to snooker as an example, the requirement can be met only by assembling the optical center of the camera and the one-dimensional lattice sensor on a parallel plane 26.25 mm away from the bottom plane of the device and horizontally placing the device on the table top. Under the requirement, the one-dimensional depth image can be positioned to a cue ball, a target ball and a target bag opening more easily.

Step S102: and calculating a hitting point and/or a hitting direction according to the position information of the cue ball, the target ball and the target bag opening in the target hitting image, wherein the hitting point and/or the hitting direction are/is a hitting point and/or a hitting direction for hitting the cue ball to hit the target ball so as to enable the target ball to enter the target bag opening.

In this step, the target hitting image acquired by the camera unit is used as input data of the processing unit to calculate the position information of the hitting point and the aiming point and the information related to the hitting route such as the hitting direction and the like, and the information is output to the auxiliary display unit.

And in the case that the target hitting image is a depth image, calculating a hitting route according to the depth information of the target, the target ball and the pocket of the target and the position information of the cue ball, the target ball and the pocket of the target in the target hitting image, wherein the hitting route is a hitting route for hitting the cue ball to hit the target ball so as to enable the target ball to enter the pocket of the target, and the hitting route comprises one or more hitting points, aiming points and/or hitting directions.

And determining the position information of the cue ball, the target ball and the target bag mouth in the target hitting image according to the target hitting image. The acquisition of the depth information is also determined according to the depth information of the cue ball, the target ball and the target pocket mouth in the target hitting image.

Fig. 9(a) and 9(c) show the case where the target pocket opening is one of four corner pockets, and fig. 9(b) and 9(d) show the case where the target pocket opening is one of two middle pockets. Because the cue ball and the target ball are circular and have different colors from the tablecloth, the cue ball and the target ball can be detected by using methods such as color segmentation or Hough transform, and the like, and whether the cue ball or the target ball is the cue ball or the target ball can be judged according to the colors of the areas; the target pocket mouth area is irregular and different in color from the tablecloth, and the target pocket mouth area can be detected by using a color segmentation method, a level set segmentation method or the like.

In fig. 9(a) and 9(c), the center positions of the respective areas are directly taken as the position information of the cue ball, the target ball, and the target pocket corresponding to the cue ball center, the target ball center, and the target pocket center position. In fig. 9(c) and 9(d), the projection positions of the target land position, that is, the cue ball center, the target ball center, and the sack center on the table top are obtained as the position information of the cue ball, the target ball, and the target sack by taking the position where the x coordinate is the same as the center position and the y coordinate is located at the lowermost position of the area.

Fig. 10(a) - (b) further illustrate the use of a one-dimensional depth camera or a target shot image as a one-dimensional depth image. Fig. 10(a) shows a case where the target pocket is one of four corner pockets, and fig. 10(b) shows a case where the target pocket is one of two middle pockets, and the depth image is represented by a depth curve. From the depth curve, two library-side curves can be detected, as well as two convex sections and one concave section. The library edge curve is a continuous or discontinuous smooth curve corresponding to the library edges on two sides of the target bag opening, and if the depth curve is established based on a rectangular coordinate system, the library edge curve is a straight line; if the depth curve is built based on a polar coordinate system, the shape of the library-side curve is a curved curve, i.e., the case shown in fig. 10(a) - (b). The convex section is a continuous smooth curve corresponding to the mother ball or the target ball, and the depth value of the convex section is reduced in a jumping way relative to the left area and the right area. The concave section is a continuous smooth curve corresponding to the target bag opening, and the depth value of the concave section is increased in a jumping mode relative to the left area and the right area. After the convex section is detected, the surface center position of the cue ball or the target ball is obtained by taking the middle point of the curve; and increasing the depth value by the radius length of the sphere to obtain the central position of the cue ball or the target ball. And after the sunken section is detected, two library side curve end points which are continuous with the end points at the two ends in the x direction are taken, and the center position of the target bag opening is obtained by taking the middle points of the two library side curve end points. For the situation that the opening of the target bag is partially or completely blocked by the cue ball or the target ball, namely the concave section is partially or completely covered by the convex section, and the library edge curve end point cannot be correctly detected, the method can be adopted: calculating curve equations corresponding to the two library side curves, further calculating an intersection point of the two curves, and properly converting the position of the intersection point to obtain the center position of the target bag opening; however, this method is only suitable for the case that the target bag opening is a corner bag, and is not suitable for the case that the target bag opening is a middle bag. After obtaining two representative cue or target ball center positions, since the depth image does not have color information, it is then necessary to distinguish between cue ball and target ball. One method is to set the ball closer to the camera, i.e., the ball with the smaller depth value at the center position, as the mother ball and the other ball as the target ball. The other method is that a ball is assumed as a cue ball, the other ball is assumed as a target ball, and the success probability of goal is calculated according to the center positions of the cue ball, the target ball and the target bag mouth; then the identities of the two balls are exchanged and calculated once again, and the condition that the success probability of ball picking is higher is the actual condition of the identities of the two balls.

In another embodiment, referring to fig. 11, a process for calculating the hitting direction and/or hitting route related information such as hitting point, aiming point, etc. by the processing unit 102 is shown. Specifically, a target batting image acquired by the camera shooting unit is input data of the processing unit, and is used for calibration on one hand, and coordinate transformation parameters are obtained by combining built-in parameters and are used for transformation of a coordinate system; and on the other hand, the method is used for positioning to obtain a first position under an observation coordinate system (a first coordinate system). And then calculating to obtain a second position under a world coordinate system (a second coordinate system) according to the first position under the observation coordinate system and the coordinate transformation parameter. The second position in the world coordinate system is further used for calculating a hitting route, so that the position information of the aiming point and the hitting point in the world coordinate system and/or the direction information of the hitting direction are obtained. And further calculating the position information of the aiming point and the hitting point and/or the direction information of the hitting direction and the coordinate transformation parameters in the world coordinate system to obtain the position information of the hitting point and the aiming point and/or the direction information of the hitting direction in the emission coordinate system (a third coordinate system), wherein the position information of the hitting point, the aiming point and/or the direction information of the hitting direction are output data of the processing unit.

That is, when calculating the position information (target position) of the cue ball, the target ball, and the target bag opening in the second coordinate system (world coordinate system), it is necessary to perform calculation based on the relevant information in the target shot image. Specifically, if the target hitting image is a depth image, the target position in the observation coordinate system (first coordinate system) needs to be combined with the corresponding depth information to obtain the target position in the second coordinate system (world coordinate system). If the target hitting image is a color image, the target position in the observation coordinate system (first coordinate system) needs to be combined with the height value information in the second coordinate system (world coordinate system) corresponding to the target hitting image, so as to obtain the target position in the second coordinate system (world coordinate system). The height value information is a z coordinate, for the z coordinates of the sphere radius height in fig. 9(a) and 9(b) corresponding to the center of the mother sphere and the center of the target sphere, the z coordinate of the center of the target bag mouth is half of the height of the library side; for fig. 9(c) and 9(d), the z-coordinate of the cue ball landing point, the target ball landing point, and the target pocket center landing point is 0, and after transformation to the world coordinate system, it is necessary to set the z-coordinate to the sphere radius height and the library side half height.

After the position information of the hitting point and the aiming point in the world coordinate system is obtained through calculation, the center position of the opening of the target bag is used as the expected bag entering position of the target ball after the center positions of the cue ball, the target ball and the opening of the target bag are obtained, the center position of the imaginary ball can be calculated, and the center aiming line can be further calculated. Then intersecting the central aiming line with the surface of the target ball, and if an intersection point exists, obtaining a central aiming point; if no intersection point exists, the left side edge aiming line and the right side edge aiming line are taken, the left side edge aiming line and the right side edge aiming line are tried to be respectively intersected with the surface of the target ball, wherein one line has an intersection point, and an edge aiming point is obtained. In fact, the central aiming line, the left side edge aiming line or the right side edge aiming line can be directly calculated and judged according to the central positions of the mother ball, the target ball and the target bag opening, so that the central aiming point, the left side edge aiming point or the right side edge aiming point can be obtained.

For a thin ball, the center aiming line may still be used, with its intersection with the bank edge as the aiming point, or with some point on a straight line where the vertical plane intersects the playing surface, such as the point on the straight line closest to the target ball.

And calculating coordinate transformation parameters between different coordinate systems according to the acquired target hitting image and the built-in parameters for transformation between the coordinate systems. The three coordinate systems are referred to, wherein a world coordinate system (a second coordinate system) is used for describing positions of a target ball, a cue ball, a target bag opening or a hitting point, an aiming point and a hitting direction in a physical world, for example, the center of a table top is taken as an origin, a direction parallel to the long side of the table top and horizontally towards the right is taken as a positive x-axis direction, a direction parallel to the short side of the table top and horizontally towards the front is taken as a positive y-axis direction, and a direction perpendicular to the table top and vertically upwards is taken as a positive z-axis direction; the observation coordinate system (first coordinate system) is used for describing the positions of a target ball, a cue ball, a target bag opening and the like in the collected target batting image; the launching coordinate system (third coordinate system) is used for describing the corresponding positions of the hitting point and the aiming point in the auxiliary display module, so as to guide and control the launching direction (namely, the hitting point, the aiming point and/or the hitting direction are/is converted into the hitting point, the aiming point and/or the hitting direction under the third coordinate system corresponding to the auxiliary display unit, and the converted hitting point, the aiming point and/or the hitting direction are/is displayed under the third coordinate system through the auxiliary display unit). It should be noted that, in this embodiment, the coordinate transformation parameters between different coordinate systems may adopt a conventional calibration technique in the field of machine vision, and the document of the present invention is not detailed, and the calculation method of the coordinate transformation parameters is not limited.

In another embodiment, before calculating the hitting point, the aiming point and/or the hitting direction according to the target hitting image, the target hitting image needs to be preprocessed so as to meet the requirements of subsequent image processing and calculation, and in particular, the target hitting image needs to meet at least one of the following conditions: (1) the target batting image meets preset size information; (2) the target batting image is in a preset coordinate system; (3) and the target ball, the cue ball and the target bag opening in the target batting image meet the preset position information. In the present embodiment, the preprocessing means includes image correction, size adjustment, and the like, and is not limited in the present embodiment.

Step S103: the hitting point and/or hitting direction is displayed on the billiard table surface in a preset mode through the auxiliary display unit, so that a player can hit a cue ball according to the hitting point and/or hitting direction to hit a target ball into a target bag opening.

The auxiliary display unit 103 is used for controlling the auxiliary display unit to display the position information of the hitting point and the aiming point and/or the direction information of the hitting direction in a preset mode according to the position information of the hitting point and the aiming point and/or the direction information of the hitting direction calculated by the processing unit.

The auxiliary display unit may include a laser emitting device or a projection device, and may display the position information of the hitting point, the aiming point and/or the direction information of the hitting direction in a laser emitting manner or a projection manner.

Taking a laser emitting device as an example, the direction of laser emission is controlled by controlling the position of the laser emitting device and by a spectroscope, a reflector, a convex lens and the like in the laser emitting device; controlling a certain array element of a laser emitting array of a laser emitting device to emit; that is, in the present embodiment, the laser light emission direction, position, energy, color, and the like of the laser light emitting device can be controlled in various ways. The laser spots may be of the same color or different colors to distinguish the various types of aiming spots, for example, red laser may be used uniformly, red laser may be used for the center aiming spot, green laser may be used for the edge aiming spot, red laser may be used for the center aiming spot, green laser may be used for the left edge aiming spot, blue laser may be used for the right edge aiming spot, and so on. In addition, if the color of the target ball can be detected, it may also be implemented to avoid using a laser of the same color as the target ball, e.g., a green laser for a red ball and a red laser for a green ball.

Taking the projection device as an example, the hitting point, the aiming point and/or the hitting direction can be displayed on the billiard table surface, or on the target ball, the cue ball, the target bag opening through the projection or holographic projection technology and the like.

In this embodiment, in order to control the direction of the laser or projection emitted from the auxiliary display unit, it is also necessary to control the emitting direction of the auxiliary display unit. Referring to fig. 7 in particular, as shown in fig. 7, the auxiliary display unit further includes a second adjusting mechanism 1031 connected to the auxiliary display unit 103 for adjusting the direction of the auxiliary display unit 103 to emit laser or projection toward the hitting direction. That is, after the processing unit obtains the hitting point, the aiming point, and the hitting direction, the second adjusting mechanism 1031 is controlled to adjust the direction and/or position of the auxiliary display unit 103, so that the laser emitting or projecting direction of the auxiliary display unit 103 matches the hitting direction, thereby achieving a precise auxiliary hitting effect.

The ball hitting auxiliary equipment and the ball hitting auxiliary method can be suitable for various billiard projects, the same ball hitting auxiliary equipment can be suitable for various billiard projects, and the ball hitting auxiliary equipment can be adjusted according to the known sizes of balls under different projects. In the adjustment of specific different items, the factors that need to be adjusted include, but are not limited to, the following: in the camera shooting unit, if a one-dimensional depth camera is used, the optical center of the camera and the height of a one-dimensional lattice sensor from a bottom plane are adjusted to be the radius length of a sphere; in the processing unit, adjusting and calculating parameters (such as built-in parameters in the processing unit) according to the sphere radius; in the auxiliary display unit, parameters such as the projection direction and the position of the laser or the projection need to be adjusted according to the radius of the sphere.

In other application scenarios, multiple selectable balls or multiple selectable pockets (the cue ball can be uniquely identified due to color) may be included in the target shot image, in which case, a unique target ball is determined among the multiple selectable balls, and a unique target pocket is determined among the multiple selectable pockets.

In one particular embodiment, the selection of the target ball and the target pocket may be manually made by the player. In the event that multiple selectable ball/selectable pockets are detected as being included in the target shot image, the multiple selectable ball/selectable pockets are displayed on a display device of the shot assisting apparatus (e.g., in the event that the alarm unit 104 is a display device), and the player may then select the target ball/target pocket via the display device or an associated input device, i.e., receive a target ball/target pocket selection instruction input by the player, and the processing unit may then determine the target ball/target pocket based on the target ball/target pocket selection instruction. The target ball/target pocket selection instruction comprises one or more of information such as a number, a position, a color and the like corresponding to the selected target ball/target pocket so as to distinguish which of the selectable ball/selectable pocket the selected target ball/target pocket is.

In another alternative embodiment, the selection of the target ball and the target pocket may also be calculated by the system to select the appropriate ball or pocket as the target ball and the target pocket.

In the case of a plurality of selectable balls, a corresponding hitting parameter, such as one or more of hitting direction range, hitting point range, and hitting probability, is calculated for each selectable ball to indicate the probability or difficulty of each selectable ball being hit, and then one selectable ball is selected as the target ball according to the probability or difficulty.

In the case of a plurality of optional bag mouths, a corresponding batting parameter, such as a batting probability, is respectively calculated for each optional bag mouth to represent the probability or difficulty degree of each optional bag mouth in being hit, and then one optional bag mouth is selected as the target bag mouth according to the probability or difficulty degree.

It should be noted that, the processing unit for determining the target ball/target bag opening through calculation may be a ball hitting auxiliary device, and may also be another device or a server connected to the ball hitting auxiliary device; for example, the hitting auxiliary device sends the target hitting image to a connected server/other device, and the server/other device performs calculation to generate a target ball/target bag opening selection instruction; for another example, in the case of ball hitting assistance, the scoring system on the billiard table surface may also automatically calculate the target ball/target pocket mouth in the presence of multiple optional ball/optional pocket mouths to generate a target ball/target pocket mouth selection instruction, and return the target ball/target pocket mouth selection instruction to the ball hitting assistance device, thereby completing the target ball/target pocket mouth selection process.

Fig. 12 is a diagram showing an internal structure of a computer device (ball striking assisting device) which realizes the above ball striking assisting method in one embodiment. As shown in fig. 12, the ball striking aid device includes a processor, memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the ball striking aid stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to carry out the method described above. The internal memory may also have stored therein a computer program which, when executed by the processor, causes the processor to perform the method described above. Those skilled in the art will appreciate that the configuration shown in fig. 12 is merely a block diagram of some of the structures associated with the embodiments of the present application and is not intended to limit the ball striking aid to which the embodiments of the present application may be applied, and that a particular ball striking aid may include more or less components than shown, or may combine certain components, or have a different arrangement of components.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A ball hitting auxiliary method is characterized in that the method is based on a ball hitting auxiliary device, and the ball hitting auxiliary device comprises a camera unit and an auxiliary display unit which are arranged on the ball hitting auxiliary device;

the method comprises the following steps:

2. The ball striking assisting method according to claim 1, wherein the step of capturing an image of a target ball striking by the camera unit further comprises:

if so, taking the acquired image as the target batting image;

3. The ball striking aid method of claim 2, wherein said ball striking aid device further comprises an alarm unit, said method further comprising: controlling the alarm unit to display a preset position alarm signal according to the camera shooting position adjusting instruction so that a player can adjust the position or the direction of the auxiliary batting equipment, and an image collected by the camera shooting unit after adjustment comprises a cue ball, a target ball and a target bag opening;

4. The ball striking assistance method according to claim 1, wherein the target ball striking image is a depth image, and the target ball striking image further includes depth information corresponding to the cue ball, the target ball, and the target pocket;

5. The ball striking assisting method according to claim 4, wherein the target ball striking image is a one-dimensional image;

6. The ball striking assisting method according to claim 1, wherein after the step of calculating the auxiliary striking parameters based on the positional information of the cue ball, the target ball and the target bag mouth in the target striking image, the method further comprises:

7. A ball striking assistance method as claimed in claim 1, further comprising:

8. A ball striking assistance method as claimed in claim 1, further comprising:

9. The ball striking aid method according to claim 1, wherein said auxiliary display unit includes a laser emitting module or a projection module;

10. A method as recited in claim 1, wherein the ball striking aid is a portable device that can be placed on a billiard table surface.