WO2016000506A1 - 投影式台球系统手势/球杆控制系统及其实现方法 - Google Patents

投影式台球系统手势/球杆控制系统及其实现方法 Download PDF

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Publication number
WO2016000506A1
WO2016000506A1 PCT/CN2015/080155 CN2015080155W WO2016000506A1 WO 2016000506 A1 WO2016000506 A1 WO 2016000506A1 CN 2015080155 W CN2015080155 W CN 2015080155W WO 2016000506 A1 WO2016000506 A1 WO 2016000506A1
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Prior art keywords
billiard
computer
image
projection
gesture
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PCT/CN2015/080155
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English (en)
French (fr)
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乔冰
李姣昂
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乔冰
李姣昂
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Application filed by 乔冰, 李姣昂 filed Critical 乔冰
Priority to US15/104,987 priority Critical patent/US20160317904A1/en
Publication of WO2016000506A1 publication Critical patent/WO2016000506A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
    • A63D15/00—Billiards, e.g. carom billiards or pocket billiards; Billiard tables
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
    • A63D15/00—Billiards, e.g. carom billiards or pocket billiards; Billiard tables
    • A63D15/006—Training or aiming arrangements on billiard tables
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/48—Details of cameras or camera bodies; Accessories therefor adapted for combination with other photographic or optical apparatus
    • G03B17/54—Details of cameras or camera bodies; Accessories therefor adapted for combination with other photographic or optical apparatus with projector
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B29/00—Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304—Detection arrangements using opto-electronic means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
    • G06F3/0425—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3191—Testing thereof
    • H04N9/3194—Testing thereof including sensor feedback

Definitions

  • the invention relates to the fields of infrared application technology, projection control technology and computer image recognition technology, and can be applied to the training, auxiliary and entertainment activities of billiard sports such as eight balls, nine balls and snooker in billiard sports, and is suitable for the first time, Middle and high-end billiards enthusiasts, specifically a projection type billiard system gesture/club control system and its implementation method.
  • the present invention is directed to the above-mentioned inconvenience, and provides a control system for controlling the operation of a projection billiard system directly by hand, a club or the like and an implementation method thereof.
  • a projection type billiard system gesture/club control system comprising an image acquisition device, a projection device, a computer, and a signal output end of the image acquisition device is connected to an input end of the computer, The input end of the projection device is connected to the output end of the computer and controlled by the computer, and also has a hollow billiard illumination lamp and an infrared fill light;
  • the lens of the image capturing device is added to the visible light filter, and the head end is aligned with the center of the hollow portion of the hollow billiard lamp and is not lower than the lower end of the hollow billiard lamp for capturing images in the desktop range of the billiard table;
  • the infrared fill light is fixed on the hollow billiard lamp, and the illumination end thereof is level with the lower end of the hollow billiard lamp, and is used for infrared illumination of the billiard table, filtering out visible light entering the image acquisition device;
  • the control interface of each function button included in the system program of the computer is projected on the desktop of the billiard table by the projection device, and the image captured by the image acquisition device under the illumination of the infrared fill lamp is acquired in real time, and the open source computer vision library is called.
  • Opencv compares and analyzes the current image with the background image or the previous frame image, and then obtains the changed image area in the image and identifies it as the moving human hand/club area;
  • the part of the setting change area near the edge of the billiard table is The beginning of the change area, and the other end is the end of the change area.
  • the end stays within a certain function button area of the control interface for more than the preset duration, it is regarded as the user point to select the button, and the computer runs the corresponding system function;
  • the hollow billiard lamp is hung on the billiard table, so that the image collecting device is facing the middle of the billiard table.
  • the image acquisition device is fixed by a hanger of the image acquisition device.
  • the projection device is mounted on the bottom end of the projection hanger together with the computer and hung on the side of the hollow billiard lamp.
  • the hollow billiard lamp is suspended at least 1 meter above the billiard table.
  • a method for implementing a gesture type billiard system gesture/club control system includes the following steps:
  • the computer-controlled projection device projects a control interface including various function buttons in the system program on the desktop of the pool table;
  • the computer-controlled image acquisition device collects images in the desktop range of the billiard table in real time, and compares and analyzes the current image with the background image or the previous frame image by calling the open source computer vision library Opencv, thereby obtaining the changed image region in the image and identifying it as The area of the moving hand/golf;
  • the part of the setting change area near the edge of the billiard table is the beginning of the change area, and the other end is the end of the change area.
  • the end stays within a certain function button area of the control interface for more than the preset duration, it is regarded as the user point selection.
  • the button the computer runs the corresponding system function.
  • Whether the hand or the club is operated is judged by the width of the end of the change region.
  • the computer analyzes the gesture shape of the human hand in the image, and performs a corresponding operation according to the shape of the gesture preset in advance.
  • the method further includes: the computer collecting an image area that changes in a plurality of consecutive frames of images, and if the changed image area is continuously operated, the computer performs a system function corresponding to the continuous motion.
  • the computer is pre-set with a set of image regions representing changes of unconventional actions and a set of system tasks it represents, and when it is detected that the changed image region belongs to the set, the corresponding system task is executed.
  • the computer-controlled projection device projects a billiard-sized image at the end of the change region; and compares the current image with the background image or the previous frame image to determine the change region. Whether there is a billiard at the end; if there is a billiard, it is judged whether the end of the change area is moved within the set time, if there is no movement, the billiard is set as the target ball, and if it is moved, it returns to judge whether the end of the change area is If there is no billiard, it is judged whether the end of the change area is moved within the set time. If there is no movement, the position is set as the estimated position to which a billiard is to be moved, and if it is moved, the judgment is returned. There is no billiard existence step at the end of the change area.
  • the user can directly control the operation of the system by hand or club during billiard sports, without the need for additional mouse or keyboard control equipment, simple and convenient.
  • Figure 1 is a structural diagram of the system of the present invention
  • the projection device is controlled by the computer, the control interface of the system program is projected on the billiard table, and the area coordinates of each function button of the manipulation interface are stored in the computer.
  • the computer-controlled image acquisition device collects the images in the billiard desktop range in real time, and uses the computer C language to call Opencv (open source computer vision library) to compare and analyze the current image background. Compare with the previous frame to obtain the image area that changes in the image, that is, the area of the running human hand or the club, and then analyze and judge the changed area.
  • Opencv open source computer vision library
  • the background comparison analysis is as follows: firstly, the billiard table without billiards is used as the background image, and then the pool table image with the billiards is compared with the background image to obtain the position of the billiards.
  • the pre-frame comparison analysis is: comparing two adjacent frames of the collected image information, and determining a change region of the club or the human hand by determining the changed portion.
  • the changing area must extend from the perimeter of the billiard table to the inside. Then we regard the part of the change area near the pool table as the beginning of the change area and the other end as the end of the change area.
  • this stay value can be set by the system
  • the computer can judge the shape of the end of the changing area.
  • the hand and the club are distinguished according to the width of the changed area. If it is a human hand, the gesture shape of the human hand is analyzed, and the corresponding function is performed according to the special gesture shape preset in advance. For example: after the fist is fisted, only the thumb is pointed to the left, and is placed flat on the billiard table, indicating that the page is turned to the left, and vice versa.
  • the computer can analyze the changing areas of several consecutive frames. According to the end position, the staying area and the coordinate change of the hand or the club, the displacement of the hand or the club is judged to control the system to perform the slider operation or the page turning operation of the function button. It is also possible to determine whether the end moves back and forth within a certain time and area, so that the user intentionally shakes the hand or the club wants to control the system, and the system can judge according to the action to execute the corresponding pop-up menu or return. System functions.
  • the computer can analyze whether the image change area has some special actions that are very uncommon. For example, when the beginning and end of the image change area are respectively near the two middle pockets of the pool table, it is considered that the user lifts the club and straddles the billiard table. This is an unusual special action, then the computer can recognize such an action For the user to want to pop up the corresponding function menu during the playing process, the computer can control the projection device to pop up the corresponding function menu and project it on the billiard table for the user to operate.
  • the pool cues are equivalent to the extension of the user's hand, and can replace the manual control system for the selection of the target billiards and the selection of the estimated position of the billiards.
  • the billiard environment model is built in the computer, simulating the running track after the cue ball is hit, the target ball trajectory directly/indirectly struck by the cue ball, and the rebounding track of the cue ball and the target ball; when the billiard is still, capturing the billiard table billiard The image, the coordinates of the billiards; when the user leans over the cue stick to aim the cue ball, the coordinates of the two end points of the cue stick and the direction of the hitting are captured in real time, and the first ball pointed by the head of the billiard cue is used as the cue ball.
  • a billiard size circle is projected at the position pointed by the end.
  • the shape image is used as an identifier for the user's reference. Then analyze the position of the end of the club to see if there is a billiard. If there is a billiard and the club does not move for a certain period of time, it is considered to be the target ball. If there is no billiards and the club has not moved for a certain period of time, it is considered to be the location as the estimated position of the billiard to be calculated to the next step in the system.
  • the club is moved for a certain period of time, it is considered that the user has to select another ball or position as the target, and then repeat the above operation.
  • the position where there is no ball on the billiard table is used as the end point of the upcoming trajectory of the cue ball.
  • the cue ball is calculated to reach the specified end point.
  • Strike force, hit point, angle of the shot and the trajectory of the billiards to be run the user specifies a billiard table on the billiard table as the target ball for the next hit, according to the billiard bar coordinates, the target ball coordinates, the cue ball
  • the coordinates and the coordinates of the target ball of the next hit position are calculated, and the position where the cue ball is hit to hit the target ball of the next hit and the track where the billiard is about to run is calculated.
  • the track where the billiards are about to run is projected onto the billiard table through the projection device.

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  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
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Abstract

一种投影式台球系统手势/球杆控制系统及其实现方法，系统包括图像采集设备（7）、投影设备（6）、电脑（3），图像采集设备（7）的信号输出端接至电脑（3）的输入端，投影设备（6）的输入端接电脑（3）的输出端并由电脑（3）控制，还设有中空台球照明灯（4）和红外线补光灯（5）；方法包括电脑（3）控制投影设备（6）在台球桌（8）的桌面上投影出系统程序中包括各个功能按钮的操控界面；电脑（3）控制图像采集设备（7）实时采集台球桌（8）桌面范围内的图像，对当前图像进行背景比较分析和前帧比较分析，进而得到图像中变化的图像区域；设定变化区域中靠近台球桌（8）的部分为变化区域的始端，另一端为变化区域的末端，当末端在操控界面的某个功能按钮区域范围内停留超过预设时长，则视为用户点选择该按钮，电脑（3）运行相应的系统功能。

Description

投影式台球系统手势/球杆控制系统及其实现方法 技术领域
本发明涉及红外线应用技术、投影控制技术、电脑图像识别技术等领域，可应用于台球运动中的八球、九球、斯诺克等台球运动的训练、辅助以及娱乐活动中，适用于初、中、高级各类台球爱好者，具体的说是一种投影式台球系统手势/球杆控制系统及其实现方法。
背景技术
随着红外线技术和投影技术的日趋成熟，人们开始将这些技术与现有的台球运动结合起来，使用户在台球运动的同时可以在台球桌上直观地看到用投影投画出来的台球预判轨迹、互动特效、击球提示信息等等内容，这些对于台球爱好者来说的确是一个极好的福音。但这些系统在操作时需要鼠标、键盘或遥控器的支持。我们来设想一下这样的情景，用户在打球时，一手拿球杆，另外一只手还要用鼠标或键盘来操控电脑，这样十分不方便。既然投影设备已经将一些信息影像投影到了台球桌上，那为什么不用手或台球杆直接在台球桌上操控系统的运行呢？这样岂不更加便利。
发明内容
本发明针对以上提到的不便之处，提供一种直接用手、球杆或其他类似物体来控制投影式台球系统运行的控制系统及其实现方法。
本发明为实现上述目的所采用的技术方案是：一种投影式台球系统手势/球杆控制系统，包括图像采集设备、投影设备、电脑，图像采集设备的信号输出端接至电脑的输入端，投影设备的输入端接电脑的输出端并由电脑控制，还设有中空台球照明灯和红外线补光灯；
所述图像采集设备的镜头加入可见光滤片，头端部对准中空台球灯的中空部分的中心并且不低于中空台球灯下端，用于捕捉台球桌桌面范围内的图像；
所述红外线补光灯固定在中空台球灯上，并其照明端与中空台球灯下端持平，用于对台球桌进行红外线照明，滤除进入所述图像采集设备中的可见光；
所述电脑内部的系统程序中包括各个功能按钮的操控界面通过投影设备投影在台球桌的桌面上，实时获取所述图像采集设备在红外线补光灯照射下捕捉的图像，通过调用开源计算机视觉库Opencv对当前图像与背景图像或前帧图像进行比较分析，进而得到图像中变化的图像区域，并将其认定为运动的人手/球杆的区域；设定变化区域中靠近台球桌边缘的部分为变化区域的始端，另一端为变化区域的末端，当末端在操控界面的某个功能按钮区域范围内停留超过预设时长，则视为用户点选择该按钮，电脑运行相应的系统功能；
所述中空台球灯悬挂于台球桌上方，使图像采集设备正对台球桌中部。
所述图像采集设备通过图像采集设备吊架固定。
所述投影设备和电脑一同安装在投影吊架的底端并吊挂于中空台球灯的旁侧。
所述中空台球灯悬挂于台球桌上方的至少1米高处。
一种投影式台球系统手势/球杆控制系统的实现方法，包括以下步骤：
电脑控制投影设备在台球桌的桌面上投影出系统程序中包括各个功能按钮的操控界面；
电脑控制图像采集设备实时采集台球桌桌面范围内的图像，通过调用开源计算机视觉库Opencv对当前图像与背景图像或前帧图像进行比较分析，进而得到图像中变化的图像区域，并将其认定为运动的人手/球杆的区域；
设定变化区域中靠近台球桌边缘的部分为变化区域的始端，另一端为变化区域的末端，当末端在操控界面的某个功能按钮区域范围内停留超过预设时长，则视为用户点选择该按钮，电脑运行相应的系统功能。
以所述变化区域的末端的宽度判断进行操作的是人手还是球杆。
当判断是人手操作时，则电脑分析图像中人手的手势形状，并根据事先预设的手势形状来执行相应的操作。
还包括：电脑收集连续若干帧图像中变化的图像区域，如果所述变化的图像区域的连续动作，则电脑执行该连续动作所对应的系统功能。
所述电脑中预设有代表非常规动作的变化的图像区域集合及其所代表的系统任务集合，当检测到变化的图像区域属于该集合时，执行对应的系统任务。
如果系统功能是让用户选择目标台球或选定一个位置，则电脑控制投影设备在变化区域的末端投影一个台球大小的图像；通过对当前图像与背景图像或前帧图像进行比较分析判断变化区域的末端有无台球存在；如果有台球存在，则判断该变化区域的末端设定时间内是否移动，如果没有移动，则将该台球设为目标球，如果移动，则返回判断变化区域的末端有无台球存在步骤；如果没有台球存在，则判断该变化区域的末端设定时间内是否移动，如果没有移动，则将该位置设为某个台球将要运动到的预估位置，如果移动，则返回判断变化区域的末端有无台球存在步骤。
本发明具有以下优点及有益效果：
1.用户可以在台球运动时，直接用手或球杆来操控系统的运行，而不需要另外的鼠标或键盘等控制设备，简洁又方便。
2.将台球桌直接变成一个可以触控的电脑屏幕，既符合用户的操作习惯，又便利快捷。
3.解决了用户边打球边用鼠标或键盘时会不小心摔坏这些设备的烦恼，同时可以空出手来专心打球。
4.台球杆相当手臂延长，只需原地站立然后抬手用球杆“指指点点”就可以完 成想要的功能，而不必走来走去，节省了时间，提高了效率。
附图说明
图1为本发明的系统结构图；
其中，1.投影吊架，2.图像采集设备吊架，3.电脑，4.中空台球照明灯，5.红外线补光灯，6.投影设备，7.图像采集设备，8.台球桌，9.台球，10.台球杆。
具体实施方式
下面结合附图对本发明做进一步的详细说明。
由电脑控制投影设备，在台球桌上投影出系统程序的操控界面，并且在电脑中存储操控界面的每个功能按钮的区域坐标。当用户有在台球桌上方有手势或球杆动作时，由电脑控制图像采集设备实时采集台球桌面范围内的图像，并且利用计算机C语言调用Opencv(开源计算机视觉库)对当前图像进行背景比较分析和前帧比较分析进行得到图像中变化的图像区域，也就是运行的人手或球杆的区域，然后再对变化的区域进行分析判断。所述背景比较分析为：先把没有放置台球的台球桌作为背景图像，再把放置了台球的台球桌图像与背景图像对比分析，得到台球的位置。所述前帧比较分析为：把采集到的影像信息的相邻的两帧进行比较，通过判断变化的部分来确定球杆或人手的变化区域。
因为操纵者站在球台附近，所以变化的区域一定是从台球桌的四周向内部延伸的。那么我们把变化区域靠近台球桌的部分看作变化区域的始端，把另一端看作为变化区域的末端。当末端在操控界面的某个功能按钮区域范围内停留超过N秒(这个停留值可以由系统设定)时，则视为用户点按该按钮，那么电脑就运行相应的系统功能。
电脑可以对变化区域的末端的形状进行判断。根据变化区域的宽度来区分出人手和球杆。如果是人手，则分析人手的手势形状，并根据事先预设的特殊手势形状来执行相应的功能。例如：握拳后只伸出大拇指指向左边，并平放在台球桌上方，表示向左翻页，反之向右翻页等等。
电脑可对连续几帧的变化区域进行分析。根据人手或球杆的末端位置、停留区域以及坐标变化，来判断人手或球杆的位移来控制系统进行功能按钮的滑块操作或翻页操作。还可以判断末端是否在一定的时间、区域内来回运动，那样则视为用户有意晃动手或球杆想去操控系统，系统就可以根据这个动作判断去执行相应的如果弹出菜单或返回之类的系统功能。
电脑可以分析图像变化区域是否是有某些很不常见的特殊动作。例如：当图像变化区域的始端和末端分别在台球桌的两个中袋袋口附近时，则视为用户将球杆平举并横跨在台球桌上。这是一个不常见的特殊动作，那么电脑可以把这样一个动作预设认 为用户想在打球过程中要弹出相应功能菜单的动作，因此电脑就可以控制投影设备将相应的功能菜单弹出并投影在台球桌上，供用户操作。
因为台球桌相对来说面积比较大，如果只用手去操作，那会因为界面的位置不同，使操作者要绕着球台走来走去，不太方便。所以台球杆就相当于用户手的延伸，可以代替人手操控系统进行目标台球的选择和台球走位预估位置的选择等功能。
在电脑中建立台球环境模型，模拟母球被击打后的运行轨迹、被母球直接/间接撞击的目标球轨迹和母球、目标球的反弹轨迹；当台球静止时，捕捉台球桌上台球的图像，得到台球的坐标；当用户俯身用台球杆瞄准母球时，实时捕捉台球杆两个端点的坐标和击打方向，以台球杆杆头指向的第一个球作为母球。
当台球杆在台球桌上移动时，如果此时的系统功能是让用户选择目标台球或选定一个位置，那么在电脑分析出球杆的末端后，就在末端指向的位置投影一个台球大小圆形图像作为标识供用户参考。然后再分析球杆末端位置有无台球存在，如果有台球存在，并球杆在一定时间内没有移动，则视为选择该台球作为目标球。如果没有台球，并且球杆在一定时间内没有移动，则视为选择该位置作为系统下一步要计算的哪个台球将要运行到此位置的一个预估位置。如果在一定时间内移动球杆，则视为用户要选其他球或位置作为目标，然后重复以上操作。以用户指定台球桌上没有球的位置作为母球即将运行轨迹的终点，根据台球杆坐标、目标球坐标、母球坐标和母球即将运行轨迹的终点坐标，计算出使母球到达指定终点的击打力度、击打点、出杆角度和台球即将运行的轨迹；以用户指定台球桌上的某一颗台球作为下一次叫位击打的目标球，根据台球杆坐标、目标球坐标、母球坐标和下一次叫位击打的目标球坐标，计算出使母球运行到能击到所述下一次叫位击打的目标球的位置和台球即将运行的轨迹。将台球即将运行的轨迹通过投影设备投影到台球桌上。

Claims (10)

  1. 一种投影式台球系统手势/球杆控制系统，包括图像采集设备(7)、投影设备(6)、电脑(3)，图像采集设备(7)的信号输出端接至电脑(3)的输入端，投影设备(6)的输入端接电脑(3)的输出端并由电脑(3)控制，其特征在于，还设有中空台球照明灯(4)和红外线补光灯(5)；
    所述图像采集设备(7)的镜头加入可见光滤片，头端部对准中空台球灯(4)的中空部分的中心并且不低于中空台球灯(4)下端，用于捕捉台球桌(8)桌面范围内的图像；
    所述红外线补光灯(5)固定在中空台球灯(4)上，并其照明端与中空台球灯(4)下端持平，用于对台球桌(8)进行红外线照明，滤除进入所述图像采集设备(7)中的可见光；
    所述电脑(3)内部的系统程序中包括各个功能按钮的操控界面通过投影设备(6)投影在台球桌(8)的桌面上，实时获取所述图像采集设备(7)在红外线补光灯(5)照射下捕捉的图像，通过调用开源计算机视觉库Opencv对当前图像与背景图像或前帧图像进行比较分析，进而得到图像中变化的图像区域，并将其认定为运动的人手/球杆的区域；设定变化区域中靠近台球桌边缘的部分为变化区域的始端，另一端为变化区域的末端，当末端在操控界面的某个功能按钮区域范围内停留超过预设时长，则视为用户点选择该按钮，电脑(3)运行相应的系统功能；
    所述中空台球灯(4)悬挂于台球桌(8)上方，使图像采集设备(7)正对台球桌(8)中部。
  2. 根据权利要求1所述的投影式台球系统手势/球杆控制系统，其特征在于，所述图像采集设备(7)通过图像采集设备吊架(2)固定。
  3. 根据权利要求1所述的投影式台球系统手势/球杆控制系统，其特征在于，所述投影设备(6)和电脑(3)一同安装在投影吊架(1)的底端并吊挂于中空台球灯(4)的旁侧。
  4. 根据权利要求1或3所述的投影式台球系统手势/球杆控制系统，其特征在于，所述中空台球灯(4)悬挂于台球桌(8)上方的至少1米高处。
  5. 一种根据权利要求1所述投影式台球系统手势/球杆控制系统的实现方法，其特征在于，包括以下步骤：
    电脑(3)控制投影设备(6)在台球桌(8)的桌面上投影出系统程序中包括各个功能按钮的操控界面；
    电脑(3)控制图像采集设备(7)实时采集台球桌(8)桌面范围内的图像，通过调用开源计算机视觉库Opencv对当前图像与背景图像或前帧图像进行比较分析，进而得到图像中变化的图像区域，并将其认定为运动的人手/球杆的区域；
    设定变化区域中靠近台球桌边缘的部分为变化区域的始端，另一端为变化区域的末端，当末端在操控界面的某个功能按钮区域范围内停留超过预设时长，则视为用户点选择该按钮，电脑(3)运行相应的系统功能。
  6. 一种根据权利要求5所述投影式台球系统手势/球杆控制系统的实现方法，其特征在于，以所述变化区域的末端的宽度判断进行操作的是人手还是球杆。
  7. 一种根据权利要求6所述投影式台球系统手势/球杆控制系统的实现方法，其特征在于，当判断是人手操作时，则电脑(3)分析图像中人手的手势形状，并根据事先预设的手势形状来执行相应的操作。
  8. 根据权利要求5所述的投影式台球系统手势/球杆控制系统的实现方法，其特征在于，还包括：电脑(3)收集连续若干帧图像中变化的图像区域，如果所述变化的图像区域的连续动作，则电脑(3)执行该连续动作所对应的系统功能。
  9. 根据权利要求5所述的投影式台球系统手势/球杆控制系统的实现方法，其特征在于，所述电脑(3)中预设有代表非常规动作的变化的图像区域集合及其所代表的系统任务集合，当检测到变化的图像区域属于该集合时，执行对应的系统任务。
  10. 根据权利要求6或7所述的投影式台球系统手势/球杆控制系统的实现方法，其特征在于，如果系统功能是让用户选择目标台球或选定一个位置，则电脑(3)控制投影设备(6)在变化区域的末端投影一个台球大小的图像；通过对当前图像与背景图像或前帧图像进行比较分析判断变化区域的末端有无台球存在；如果有台球存在，则判断该变化区域的末端设定时间内是否移动，如果没有移动，则将该台球设为目标球，如果移动，则返回判断变化区域的末端有无台球存在步骤；如果没有台球存在，则判断该变化区域的末端设定时间内是否移动，如果没有移动，则将该位置设为某个台球将要运动到的预估位置，如果移动，则返回判断变化区域的末端有无台球存在步骤。
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