KR101790773B1

KR101790773B1 - Assistance system for billiards game

Info

Publication number: KR101790773B1
Application number: KR1020160005600A
Authority: KR
Inventors: 임재각; 배유석; 박정웅; 신요섭; 김현석; 김장식; 이현숙
Original assignee: 임재각
Priority date: 2015-09-10
Filing date: 2016-01-15
Publication date: 2017-10-26
Also published as: KR20170031006A

Abstract

The present invention relates to an image capture unit for receiving a full image of a billiard table photographed by a camera, a color of a billiard ball and a color of a billiard ball in the whole image of the billiard table, A ball position detecting unit for detecting a movement of the billiard ball and a movement locus of the moving billiard ball, a position of each ball detected by the ball position detecting unit, and a color of the billiard ball, A ball collision detecting unit for detecting whether the ball has collided with a target ball using the position of each ball detected by the ball catching unit and the color of the billiards ball, If the ball receives the information from the ball collision detection unit and recognizes that the ball has collided with the cushion at least three times and collided with both of the two balloons, And a control unit for controlling the operation of each configuration so as to automatically calculate a score based on the three-cushion rule corresponding to the signal received from each of the components, will be.

Description

[0001] ASSISTANCE SYSTEM FOR BILLIARDS GAME [0002]

The present invention relates to an auxiliary system of a billiard game, and more particularly, to a billiard game auxiliary system for recognizing and outputting a score automatically when a three-cushion billiard game is played.

The billiard game is a game that many people love, and there are dive games, three-cushion games, and pocket games. Generally, a billiard game grasps whether a score is acquired through visual confirmation of a game player, and when a point is acquired, a point ball of a score plate similar to an abacus is directly moved by a user to display a score. That is, the conventional billiard game has to be proceeded with the action of the player.

In order to alleviate this inconvenience, a digital score board including a touch screen function has been developed and a score can be easily displayed by touching or selecting a UI (refer to Korean Patent Publication No. 2009-0008415). Korean Patent Laid-Open Publication No. 2014-0090904 discloses a technique in which a display device is installed in a part of a billiard table and a coaching route corresponding to a batting method and a position of each ball is displayed through a display device so that a game player can easily increase billiard skills Lt; / RTI >

On the other hand, in the case of three-cushion billiard games, when there are many cushions, the points are scored, whether the cushions are hit or not, and whether they are cushioned. Also, even if a digital score board is used, it is troublesome for a player to touch or select a UI. Therefore, a technique and system are required to judge whether a score is scored automatically or not and automatically acquire the score on the basis of the automatic three-cushion game progress.

1. Korean Patent Laid-Open Publication No. 2014-0090904 (July 17, 2014) 2. Korean Patent Publication No. 2009-0008415 (Aug. 21, 2009)

A problem to be solved by the present invention is to provide an auxiliary system for a billiard game in which a score is automatically acquired when a three-cushion game is played. Another object of the present invention is to provide an auxiliary system for billiard game in which the order of batting is automatically announced and the winning score is displayed.

Embodiments according to the present invention can be used to accomplish other tasks not specifically mentioned other than the above-described tasks.

One embodiment of the present invention for solving the above problems provides an auxiliary system for billiard game. The auxiliary system for billiard game includes an image acquisition unit for receiving the whole image of the pool table photographed by the camera, a color of the billiard ball and the color of the billiard ball in the entire image of the billiard table, and a change of the position of the billiard ball between the current frame and the previous frame Determining whether or not the billet is collided with the cushion using the color of the ball detected by the vacant position detecting unit and the color of the billiard ball; A ball collision detecting unit for detecting whether or not the water balloon has collided with an object ball using the color of the ball and the position of each ball detected by the ball catching unit; And the information received from the ball collision detection unit indicates that the watercourse has collided with the cushion at least three times and collided with two object spheres And a control unit for controlling the operation of each component so that a score based on the three-cushion rule is automatically calculated in response to a signal received from each component.

The ball position determination unit compares the entire image of the billiard table of the current frame with the stored background image and compares the size of the billiard ball with the image of the billiard ball to determine the image area and position coordinates of the billiard ball, The color value of the area is grasped, the color of each billiard ball is grasped, and the position coordinates of each billiard ball are managed corresponding to the color of the billiard ball. The coin position determination unit determines the color of each cell forming the image area with respect to the image area of each of the billiard balls and obtains an average color value for the color of each cell, To identify each billiard ball by comparing the similarity of the red ball, the yellow ball, and the white ball with the unique color value.

The cushion collision detection unit obtains the velocity, the acceleration and the traveling direction by using the trajectory data of the cushion generated by the cooperative position determination unit, and calculates the cushion collision using the at least three consecutive trajectory points including the position coordinates of the current frame, The cushion collision prediction coordinate being a point of the cushion predicted to collide with the cushion when the cue ball continues to travel, and when the distance difference between the next position coordinate and the cushion collision prediction coordinate is less than the reference value, As shown in FIG. Alternatively, the cushion collision detection unit may determine velocity, acceleration, and travel direction using the locus data of the cue ball generated by the cooperatively locating unit, and determine at least three consecutive locus points including the position coordinates of the current frame, Calculates a position coordinate, compares the cushion boundary located on an extension line of the trajectory of the cushion, compares the next position coordinate and the cushion boundary, and determines that the collision is between the cushion and the cushion when the next position coordinate exceeds the cushion boundary .

The ball collision detection unit receives the trajectory data of each ball generated by the cooperative position determination unit, grasps the billiard ball in motion, grasps the ball speed, the acceleration and the direction of the ball using the trajectory data of the ball, The coordinates of the next position of the current frame are calculated using at least three consecutive locus points including the position coordinates of the current frame and the position coordinates of the current frame after calculating a straight line connecting the next position coordinate and the position coordinates of the current frame, It is judged that the collision occurs when the distance difference between the next positional coordinate of the target object and the next positional coordinate of the target object is equal to or less than the set value.

The ball position determination unit or the score determination unit determines one of the white ball or the yellow ball that is initially moved for each striking order as a water balloon. Or the ball position determination unit or the score determination unit determines one of a white ball or a yellow ball that is the first movement after the start of the game as a ball, and when the ball fails to acquire the ball on the basis of the first ball, The ball is judged as a water polo.

According to one embodiment of the present invention, it is determined whether or not a score is automatically acquired without any user's intervention. Accordingly, the batting order and the acquired score are automatically displayed so that the game progresses smoothly, I will.

1 is a block diagram illustrating a billiard game auxiliary system according to an embodiment of the present invention.
FIG. 2 is a flowchart showing a schematic operation of a billiard game auxiliary system according to an embodiment of the present invention.
3 is a flowchart showing the operation of the coin position sensing unit according to an embodiment of the present invention.
4 is a flowchart showing an operation of the cushion collision detecting unit according to an embodiment of the present invention.
5 is a flowchart showing the operation of the cushion collision detecting unit according to another embodiment of the present invention.
6 is a flowchart showing an operation of the ball collision recognition unit according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating a method of determining a ball speed, an acceleration, and a traveling direction according to an embodiment of the present invention.
8 is a view for explaining a method of detecting a cushion collision and a ball collision in the case where a cue ball according to an embodiment of the present invention simultaneously collides with an object ball and a cushion.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same reference numerals are used for the same or similar components throughout the specification. In the case of publicly known technologies, a detailed description thereof will be omitted.

In this specification, when a part is referred to as "including " an element, it is to be understood that it may include other elements as well, without departing from the other elements unless specifically stated otherwise. Also, the terms "part," " module, "and the like, which are described in the specification, refer to a unit for processing at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software.

1 is a block diagram illustrating a billiard game auxiliary system according to an embodiment of the present invention. 1, an auxiliary system 100 for a billiard game according to an embodiment of the present invention includes an image acquisition unit 120, a coin position sensing unit 130, a cushion collision recognition unit 140, 150 and a score grasping unit 160. In some cases, the billiard game auxiliary system 100 may further include at least one of a camera 110 or a display device (or a digital score display device)

The camera 110 is installed on the billiard table, captures the entire billiard table, and provides the entire image of the pool table to the image capturing unit 120 as digital information. The entire image of the pool table provided at this time is image information of one frame. Since the billiard game auxiliary system 100 according to the embodiment of the present invention analyzes the video image one frame at a time, the faster the shooting speed of the camera 110 and the higher the resolution, the more accurate results can be obtained. The photographing speed of the camera 110 used in the experiment was about 40 frames per second (FPS), and the results of this experiment were satisfactory. On the other hand, when the billiard game auxiliary system 100 according to the embodiment of the present invention is installed in a commercial billiard room, the camera 110 displays a game time measuring device (a display device 200 or a score display device 200) or other device) in response to a start command and an end command.

The image acquisition unit 120 receives the image information of the entire billiard table from the camera 110 and stores the image information received in the storage unit (not shown). The ball position determination unit 130 identifies the position of the billiard ball and the color of the billiard ball in the overall image of the billiard table.

The cushion collision detecting unit 140 determines whether or not the cushion has collided with the cushion using the position of each ball detected by the ball position detecting unit 130. The ball collision detecting unit 150 detects the ball collision detecting unit 130 ) To determine which target ball the target ball used to hit.

The score acquiring unit 160 receives the output of the cushion collision recognizing unit 140 and the output of the ball collision recognizing unit 150 to determine whether or not a score has been acquired and transmits the score to the display device 200 or the score display device 200 ) To indicate whether or not to acquire a score. Here, the ball position determination unit 130 determines whether or not all the balls are stopped, and informs the score determination unit 160 when all balls have stopped. Of course, information on whether all balls have stopped may be performed by one of the cushion collision detecting unit 140 and the ball collision detecting unit 150.

The display device 200 performs a screen and a display function for displaying image information and various information, and also performs a scoreboard display function. The display function of the display device 200 displays information such as the current position of each ball, the movement path of each ball, each game time, and the like on the screen. The score plate function grasps the order of hitting according to the movement information of each ball and the score acquisition signal from the ball position determination unit 160 and displays an image of the score plate of the general billiard room or displays a digital score plate, The acquiring unit 160 increases the acquired score on the score plate of the batting order corresponding to the score acquiring signal.

Here, the judgment of the ball is made based on the output information of the ball position sensing unit 130, which provides information on the ball that moved first when all billiard balls are stopped. For example, one of the first white ball or yellow ball that moves in each batting order is judged to be a water polo. Or a white ball or a yellow ball which is moved first after the start of the game is judged to be a ball, and when the ball fails to be scored on the basis of the ball judged first, the ball determined to be a ball different from the previously determined ball is determined as a ball. Of course, water polo is either a white ball or a yellow ball. The determination of the water hole is performed by one of the ball position determination unit 130 and the score recognition unit 160. The score recognition unit 160 grasps the information about the water hole every time it is hit and performs the score processing.

The control unit 170 controls the overall operation of each of the components 110 to 160 and automatically calculates a score based on the three-cushion rule corresponding to the signal received from each of the components 110 to 160.

The score display device 200 is used when the display device is not used or when the display device does not provide a scoreboard function. The score display device displays a score plate on the screen or a digital score display function.

Meanwhile, the billiard game auxiliary system 100 according to the embodiment of the present invention further includes a user input unit such as a button or a touch screen for allowing the user to set the power on / off, the name of the player, and the number of players can do.

A schematic operation of the billiard game auxiliary system according to the embodiment of the present invention constructed as above will be described with reference to FIG. FIG. 2 is a flowchart showing a schematic operation of a billiard game auxiliary system according to an embodiment of the present invention.

When the billiard game is started, the camera 100 operates to capture the entire billiard table and provide the entire image of the pool table to the image capturing unit 120 as one frame image (S201). The pool image of the pool table received by the image acquisition unit 120 is stored or provided to the vacant position acquisition unit 130. The vacant position acquisition unit 130 acquires the image of the currently received frame The image of the frame received before (i.e., the immediately preceding frame) is compared to identify the position and color of each billiard ball in the entire billiard table image, and sign data is generated for the moving billiard ball (S202).

When the cushion collision detecting unit 140 and the ball collision detecting unit 150 grasp the movement information of the cue ball through the empty position detecting unit 130, the cushion collision detecting unit 140 and the ball collision detecting unit 150 detect the moving path of the cue ball using the current frame and two or more previous frames (S203). The cushion collision detecting unit 140 and the ball collision detecting unit 150 judge whether the cue ball collides with the cushion and whether the cue ball collides with one target ball, (S204, S205). Here, the collision information provided by the cushion collision detecting unit 140 is, for example, information indicating that the cue ball has collided with the cushion, and the collision information provided by the ball collision detecting unit 150 includes The score grasping unit 160 collects and stores collision information received from the cushion collision detecting unit 140 and the collision detecting unit 150 (S206). The operation of collecting the collision information, that is, the operation of the cushion collision detecting unit 140 and the collision detecting unit 150 corresponding to the one hit, is performed until all balls stop (S207).

When all the balls are stopped, the score acquiring unit 160 analyzes the stored collision information and determines whether the point condition is satisfied (S208).

The point acquisition condition is that the water balloon collides with both the first and second objects and the water balloon collides with the cushion three or more times.

If the score acquisition condition is satisfied, the score acquiring unit 160 increases the score of the game player in the order by one point and displays the increased score through the display device 200 or the score display device 200 (S209).

In addition, if it is determined that all the balls are stopped, the ball position determination unit 130 determines and stores the final position of each ball, that is, the stopped position, and informs the score determination unit 160 of the ball stop (S210).

If the collision information collected in step S208 does not satisfy the point condition, the score grasping unit 160 determines that the striking of the corresponding striking ball has been completed and sets the striking ball of the color different from the striking ball to the next striking ball S211).

In the above-described embodiment, the point condition is determined to be performed after all the balls are stopped. However, the ball condition may be performed every time there is a ball collision or a cushion collision, Or when the cigarette has collided with the cushion three times. Of course, the point at which such a point condition is discriminated is not limited to this.

Hereinafter, the operation of the cooperative position determination unit 130 will be described in more detail with reference to FIG. 3 is a flowchart showing the operation of the coin position sensing unit according to an embodiment of the present invention.

The ball position detection unit 130 generates a difference image by comparing the image of the current frame, that is, the whole image of the billiard table with the stored background image (S301). Here, the background image is obtained by obtaining an average image of all 30 frames after acquiring a plurality of frames, for example, 30 frames, as a whole image of a billiard table photographed in a state in which the camera 110 is not placed on the billiard table.

The vacant position determination unit 130 removes a portion corresponding to the background image from the image of the current frame, displays the image in black, and generates a difference image by leaving only the image of the non-matching portion. In this case, the image of the unmatched part corresponds to three balls, a cube, and a person caught by the camera.

Then, the ball position determination unit 130 obtains the size and position of the detected image region, compares the size of the image region with the size of the actual billiard ball, and determines whether the corresponding region is a person or a known object (S302).

If the size and the ratio of the detected image area are similar to the size of the actual billiard ball, the vacant position determination unit 130 sets the candidate area to the candidate area and removes the rest (S303). In step S303, a region having a size larger than that of the billiard ball and a region (noise) significantly smaller than the size of the billiard ball, a cue region having a longer length and different ratios are removed.

The ball position determination unit 130 determines the color of each cell forming an image with respect to the image of the candidate region, that is, the image of the billiard ball, and obtains the average color of the color of each cell obtained (S304). Obtaining the average color is because all regions can not be seen as a uniform color due to the gloss and light of the billiard ball, and this process is performed so that the color value can be used.

When the color value of each billiard ball image is grasped, the ball position determination unit 130 compares the color value of each billiard ball image with the unique color value of the red ball, the yellow ball, and the white ball, (S305). The similarity of the color values is defined as the Euclidean distance between the HSV color space and the RGB color space. (RGB, H2, S2, and B2), and the HSV values (H2, S2, and B1) V2), the following equation (1) can be obtained.

In the above example, the RGB value and the HSV value are used to identify the color of the billiard ball. However, since each of the balls has a unique color value, only one of the RGB value and the HSV value may be used.

The ball position determination unit 130 identifies a yellow ball, a white ball, and a red ball by identifying a color for each image area. The coordinates of the center point of each billiard ball are identified as the position coordinates of the current frame, In accordance with the color of the billiard ball (S306).

Then, the ball position determination unit 130 determines that the position coordinates of the current frame are moving with respect to the ball having the difference from the position coordinates of the previous frame, generates the trajectory data of the corresponding ball, adds the position coordinates of the current frame to the trajectory data do.

On the other hand, the ball position determination unit 130 stores the position of each ball in the current frame and the identification information of each ball, and also stores information on the ball that is moved first.

Hereinafter, the operation of the cushion collision detecting unit 140 according to the first embodiment of the present invention will be described in more detail with reference to FIGS. 4 and 7. FIG. 4 is a flowchart showing an operation of the cushion collision detecting unit according to an embodiment of the present invention.

As shown in FIG. 4, the cushion collision detecting unit 140 obtains the ball speed, the acceleration, and the moving direction using the locus data of the billiard ball generated by the coin position sensing unit 130 (S401). Here, the velocity v can be defined as a distance d (unit: pixel) moved by a unit time (i.e., per unit frame). That is, v =? D / t = pixel / frame. If the unit time (t) is a frame acquisition interval, the velocity (v) may be a distance between coordinates moved during one frame, and the acceleration (a) may be a difference between continuously obtained velocities. That is, by using the three coordinates (x1, y1), (x2, y2), (x3, y3) obtained continuously, the velocities v1 and v2 can be expressed by the following Equation 2, 3 < / RTI >

The cushion collision detecting unit 140 calculates the position coordinates of the immediately following moment (next frame), that is, the next position coordinates, using the information of the ball speed, the acceleration and the traveling direction (S402). The calculation of the next position coordinate is calculated by using at least three or more trajectory points, and the three or more trajectory points are the position coordinates of two or more previous frames close to the current frame, together with the position coordinates of the current frame.

An example of calculating the next position coordinate with reference to Fig. 7 will be described. FIG. 7 is a diagram illustrating a method of determining a ball speed, an acceleration, and a traveling direction according to an embodiment of the present invention. 7, the cushion collision detecting unit 140 obtains the position coordinates P1 (x1, y1) of the previous frame, the position coordinates P2 (x2, y2) of the immediately preceding frame and the position coordinates P3 ) To calculate the next location coordinate.

Here, the velocity of the x coordinate (pixel / frame) is equal to the movement amount of the x coordinate, and the velocity of the y coordinate (pixel / frame) is equal to the movement amount of the y coordinate. Therefore, the velocity v1 (x) = x2-x1, v2 (y) = y2-y1 and v2 (x) = x3-x2, v2 (y) = y3-y2. Then, the acceleration ax = v2 (x) -v1 (x) and ay = v2 (y) -v1 (y). Therefore, the x coordinate (e _x ) of the next position coordinate (e) is x3 + (v2 (x) + ax) and the y coordinate (e _y ) is y3 + (v2 (y) + ay).

Next, the cushion collision detecting unit 140 calculates the cushion collision prediction coordinate (S403). The cushion collision prediction coordinate is a point of the cushion predicted to hit when the ball continues to run, that is, a point where the boundary line of the cushion located on the extension line of the trajectory meets the extension line of the movement path of the water cushion. The cushion collision predicted coordinates can be obtained by substituting the condition of the cushion (x = 0 or x = billiard horizontal length or y = 0 or y = billiard vertical length) in a straight line equation connecting the current coordinates and the predicted coordinates obtained from 3 .

When the next positional coordinate and the predicted cushion collision coordinate are calculated, the cushion collision detecting unit 140 calculates a difference value between the next positional coordinate and the predicted cushion collision coordinate, that is, a distance difference (S404) (S405).

Here, the reference value is preferably the radius of the billiard ball, but may be larger than the radius of the billiard ball. Of course, a value greater than the radius of the billiard ball is within a few millimeters of the radius of the billiard ball.

If it is determined that the distance difference is less than the reference value in step S405, the cushion collision detecting unit 140 determines that the cushion collision occurs (S406), and counts the cushion collision (S407). If the distance difference is larger than the reference value, the process returns to step S401. Here, the cushion collision detecting unit 140 notifies the score catching unit 160 of the cushion collision upon the cushion collision, and allows the score catching unit 160 to count the cushion collision.

Meanwhile, in the above-described embodiment, it is determined whether or not a collision has occurred using the difference between the next position coordinate and the cushion collision prediction coordinate. However, instead of the cushion collision prediction coordinate, the cushion collision sensing line A shown in FIG. Instead, the position coordinates of the current frame can be used. In this case, the cushion collision detecting unit 140 determines that the position of the current frame is a collision with the cushion when the minimum distance from the cushion collision detecting line A is equal to or smaller than a reference value (e.g., the radius of the billiard ball). Here, the cushion collision sensing line is separated from the inner boundary line (B) of the cushion by the radius of the billiard ball.

Hereinafter, the operation of the cushion collision detecting unit 140 according to the second embodiment of the present invention will be described in more detail with reference to FIG. 5 is a flowchart showing the operation of the cushion collision detecting unit according to another embodiment of the present invention.

5, the cushion collision detecting unit 140 obtains the ball velocity v, the acceleration a, and the moving direction using the locus data of the billiard ball generated by the ball position determination unit 130 (S501). Then, the cushion collision detecting unit 140 calculates the position coordinates of the next instant (next frame) predicted by using the information of the velocity v, the acceleration a and the traveling direction, that is, the next position coordinates (S502 ). Here, the calculation of the velocity v, the acceleration a, the traveling direction and the calculation of the position coordinates are the same as those described with reference to Fig.

Then, the next cushion collision detecting unit 140 checks the cushion boundary located on the extension line of the trajectory, compares the next position coordinate with the cushion boundary (S503), and determines whether the next position coordinate exceeds the cushion boundary (S504). Here, the boundary of the cushion is set such that the x coordinate is '0' or the max value and the y coordinate is '0' or max.

In step S504, the cushion collision detecting unit 140 determines that the next position coordinate is beyond the cushion boundary (step S505), counts the cushion collision (step S506), and if the next position coordinate does not exceed the cushion boundary Return to step S501.

Hereinafter, the operation of the ball collision detecting unit 150 according to the embodiment of the present invention will be described in more detail with reference to FIG. 6 is a flowchart showing an operation of the ball collision recognition unit according to an embodiment of the present invention.

6, the ball collision detecting unit 150 receives the billiard identification information and the sign data of the billiard ball from the coin position detecting unit 130, and grasps the billiard ball being moved. Then, the ball collision detecting unit 150 detects the ball speed, acceleration, and moving direction using the sign data of the ball (S601).

The ball collision detecting unit 150 calculates the next positional coordinates predicted using the ball velocity v, the acceleration a, and the information of the traveling direction (S602). Then, the ball collision detecting unit 150 calculates a minimum distance between the calculated straight line and the position coordinates of the current frame of each target sphere (S604), calculates an equation of a straight line connecting the next position coordinate and the current frame position coordinates (S603) .

Here, the minimum distance d between the straight line equation ax + by + c = 0 and the position coordinates (x1, y1) of the current frame of the target sphere can be found by the following equation (4).

The ball impact detection unit 150 compares the calculated minimum distance with the sum of the two radii of the balls, that is, the diameter of the billiard ball. If the minimum distance is smaller than the diameter of the billiard ball, It is determined that there is a possibility of an object sphere (S605).

Then, the ball collision detection unit 150 calculates the distance difference between the ball and the target ball by comparing the next position coordinate of the ball and the next position coordinate of the ball, which are likely to collide with each other (S607) (Diameter of the billiard ball) or less (S608).

If the distance difference is less than the reference value, the ball collision detecting unit 150 determines that there is a collision between the balls (S609), and stores the identification information, the collision time, and the collision position coordinates of the target ball colliding with the ball (S610). On the other hand, if the distance difference is larger than the reference value, the process returns to step S601.

Hereinafter, with reference to FIG. 8, a case in which a watercourse according to an embodiment of the present invention substantially collides with an objective ball will be described. FIG. 8 is a view for explaining a method of grasping a cushion collision and a ball collision in the case where a water cigarette according to an embodiment of the present invention almost simultaneously collides with an object sphere and a cushion, wherein Ball 1 is a water cistern, Sphere.

In both cases of sensing the collision between the cue ball and the cushion or sensing the collision between the ball and the target ball, the process involves finding the next positional coordinate of the ball. When a ball is detected to collide with a target ball and a cushion at the same time in a certain frame, the next position coordinate of the ball is detected as a collision detection condition between the ball and the target ball, that the distance between the center points is less than the ball's diameter, It means that the detection condition "the center point of the water polo crosses the boundary of the cushion" is satisfied at the same time.

At this time, the first to third distances (1), (2), and (3) are defined as follows.

The first distance (1) means the distance between the position coordinate of the current frame and the next position coordinate with respect to the cue ball, that is, the distance at which the cue ball at the current position can move to the next frame. The second distance 2 means the distance between the position coordinates of the current frame and the cushion collision prediction coordinate with respect to the cue ball, i.e., the distance the cue ball must move to cross the cushion boundary. And the third distance 3 means the distance between the position coordinate of the current frame and the collision prediction coordinates of the target sphere for the cue ball, that is, the distance the cue ball must move in order to collide with the target ball. At this time, the point at which the water balloon collides with the target ball is calculated using the above-described steps S602 to S604.

When the second distance 2, which is the distance between the water cushion and the cushion, and the third distance 3, which is the distance from the water cushion to the object sphere, are calculated, the second distance 2 and the third distance 3 ), It is possible to judge whether the cue ball first impacts the cushion or whether the cue ball first impacts the target ball. This is because the collision occurs first because the distance that the watercourse must travel is short compared to the collision that occurs later.

For example, in FIG. 8, the second distance 2, which is a predicted distance of collision between the water cushion and the cushion, is smaller than the third distance 3, It seems to have happened first.

Meanwhile, the coin position determination unit 130 according to the embodiment of the present invention determines whether all the balls are stopped. In this case, even if the ball is stopped due to the characteristics of the real-time digital image, the coordinates may slightly change due to a slight change in brightness. In this case, too, the coordinate is shifted a little distance below the set value When calculated, the position coordinates of the previous frame are used as they are.

While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It belongs to the scope.

100: Billiard gaming auxiliary system 110: Camera
120: image acquisition unit 130:
140: cushion impact detection unit 150: ball impact detection unit
160 score acquiring unit 170:
200: display device, score display device

Claims

An image capturing unit for receiving the entire image of the pool table photographed by the camera,
The position of the billiard ball and the color of the billiard ball are identified in the whole image of the billiard table, and the position of the billiard ball between the current frame and the previous frame is grasped to determine whether the billiard ball is moved or not, However,
A cushion collision detecting unit for detecting whether or not the water balloon has collided with the cushion using the positions of the balls and the colors of the billiard balls detected by the ball position detecting unit,
A ball collision detecting unit for determining whether or not the ball has collided with a target ball using the position of each ball detected by the ball position detecting unit and the color of the billiards ball,
A score acquiring unit that acquires a score for the cue ball when it is determined that the ball cue collided with the cue balloon at least three times through the information received from the cue collision detecting unit and the ball collision recognizing unit,
And a control unit for controlling the operation of each configuration so as to automatically calculate a score based on a three-cushion rule corresponding to a signal received from each configuration,
The cushion collision detection unit obtains the velocity, the acceleration and the traveling direction by using the trajectory data of the cushion generated by the cooperative position determination unit, and calculates the cushion collision using the at least three consecutive trajectory points including the position coordinates of the current frame, After calculating the coordinates,
A cushion impact prediction coordinate, which is a point of the cushion predicted to hit when the watercourse is continued, is determined, and when the distance difference between the next position coordinate and the cushion impact prediction coordinate is less than or equal to a reference value, And an auxiliary system for a billiard game in which a cushion boundary located on an extension line of a cue ball is detected and a next position coordinate is compared with the cushion boundary and the next position coordinate is determined as a collision between the cue ball and the cushion when the position coordinate exceeds the cushion boundary.

The method of claim 1,
The ball position determination unit compares the entire image of the billiard table of the current frame with the stored background image and compares the size of the billiard ball with the image of the billiard ball to determine the image area and position coordinates of the billiard ball, The auxiliary system for billiard game in which the color value of the area is grasped to grasp the color of each billiard ball, and the coordinates of the position of each billiard ball are managed corresponding to the color of the billiard ball.

3. The method of claim 2,
Wherein the empty position determination unit determines the color of each cell with respect to the image area of each of the billiard balls and obtains an average color value for the color of each cell that is grasped and calculates an average color value for the image area of the obtained billiard ball, The auxiliary system for billiard game, which identifies each billiard ball by comparing the similarity value with the unique color value of the yellow ball and the white ball.

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The method of claim 1,
The ball collision detection unit receives the trajectory data of each ball generated by the cooperative position determination unit, grasps the billiard ball in motion, grasps the ball speed, the acceleration and the direction of the ball using the trajectory data of the ball, The coordinates of the next position of the current frame are calculated using at least three consecutive locus points including the position coordinates of the current frame and the position coordinates of the current frame after calculating a straight line connecting the next position coordinate and the position coordinates of the current frame, And the distance difference between the next position coordinate of the target ball and the next position coordinate of the ball is equal to or less than the set value, the auxiliary system for a billiard game.

The method of claim 1,
Wherein the ball position determination unit or the score determination unit determines one of a white ball or a yellow ball that is initially moved in each shooting order as a water ball.

The method of claim 1,
The ball position determination unit or the score determination unit determines one of a white ball or a yellow ball that is first moved after the start of the game as a ball, and when the ball fails to acquire the ball on the basis of the first ball, A billiard gaming auxiliary system that judges to be a water polo.