WO2019033263A1 - Billiard ball position determining method, billiard ball position determining apparatus and electronic device - Google Patents

Abstract

A billiard ball position determining method, a billiard ball position determining apparatus and an electronic device. The method mainly comprises: calculating coordinates of two photographing positions by means of two photos of a billiard table having fixed points and a billiard ball photographed at two different photographing positions and detecting the distances (respectively being lo1 and lo2) from two different photographing positions to the fixed points and the billiard ball, the number of the fixed points in each photo being three or more; further obtaining first interval coordinate information and second interval coordinate information that the distances from the two photographing positions to the billiard ball are lo1 + r and lo2 + r respectively according to the coordinates of two photographing positions and the distances from the two different photographing positions to the billiard ball, r being the radius of the billiard ball; and further obtaining the coordinates of the center of the billiard ball, the coordinates of the center of the billiard ball being located in first region coordinate information and also in second region coordinate information.

Description

Billiard position determining method, billiard position determining device and electronic device Technical field

The invention relates to a billiard position determining method, a billiard position determining device and an electronic device.

Background technique

Billiards, also known as billiards, is a sport that is loved by people in modern life. It can be used not only as an entertainment program for family and friends, but also as an important international competition in the world (such as snooker). American billiards). Whether it is entertainment or competition, how to help billiards improve the level of hitting is an important issue, and how to determine the position of the billiards plays a crucial role in helping the billiards improve the level of the shot.

Summary of the invention

In order to solve the problem of determining the position of the billiard in the prior art, the present invention provides a billiard position determining method, a billiard position determining device and an electronic device.

A method for determining a billiard position, the method comprising:

Obtaining a first photo taken at a first shooting position, the first photo comprising a billiard tabletop, a billiard on the billiard table top, a first fixed point, a second fixed point, and a third fixed point, wherein the The first fixed point, the second fixed point, and the third fixed point are known relative to a coordinate of a reference coordinate system;

Obtaining a distance from the first photographing position to the first fixed point, the second fixed point, the third fixed point, and the billiard ball center, wherein a distance from the first photographing position to the billiard ball is set to l _o1 , the radius of the billiard is set to r, the distance from the first shooting position to the billiard ball center is l _o1 + r;

Calculating the first point according to the coordinates of the first fixed point, the second fixed point, and the third fixed point, and the distance from the first fixed point, the second fixed point, and the third fixed point to the first shooting position The coordinates of a shooting position;

Coordinate calculation based on the first imaging position to the first position on the photographing distance is billiards l _o1 + r coordinate information of a first section, said first section comprising a plurality of coordinate information to the first The distance of the shooting position is the coordinates of l _o1 +r;

Acquiring a second photo taken at a second shooting position different from the first shooting position, the second photo including the billiard tabletop, the billiards, a fourth fixed point, a fifth fixed point, and a a six fixed point, wherein the fourth fixed point, the fifth fixed point, and the sixth fixed point are known relative to coordinates of the reference coordinate system, the second photo and the first photo The billiard has no change in the position of the billiard tabletop;

Obtaining a distance from the second shooting position to the fourth fixed point, the fifth fixed point, and the sixth fixed point, respectively, and the billiard ball center, wherein a distance from the second shooting position to the billiard ball is set to l _o2 , the distance from the second shooting position to the billiard ball center is l _o2 + r;

Calculating the number according to the coordinates of the fourth fixed point, the fifth fixed point, and the sixth fixed point, and the distance from the fourth fixed point, the fifth fixed point, and the sixth fixed point to the second shooting position respectively Second, the coordinates of the shooting position;

Calculating, according to the coordinates of the second photographing position, second interval coordinate information of the distance from the second photographing position to the billiards as l _o2 +r, the second interval coordinate information including a plurality of to the second The distance of the shooting position is the coordinate information of l _o2 +r; and

Obtaining coordinates of the billiard ball center, wherein coordinates of the billiard ball center are located in the first region coordinate information, and also in the second region coordinate information.

A billiard position determining device comprising:

a photo acquisition module, configured to acquire a first photo taken at the first shooting position and a second photo taken at a second shooting position different from the first shooting position, where the first photo includes a billiard tabletop a billiard, a first fixed point, a second fixed point and a third fixed point on the billiard table, wherein the first fixed point, the second fixed point and the third fixed point are compared with a coordinate of a reference coordinate system It is known that the second photo includes the billiard table top, the billiard, the first four fixed points, the fifth fixed point and the sixth fixed point, wherein the fourth fixed point The fifth fixed point and the sixth fixed point are known compared to the coordinates of the reference coordinate system, and the second photo and the billiard in the first photo have no change in the position of the billiard tabletop. ;

a distance acquiring module, configured to acquire a distance from the first photographing position to the first fixed point, the second fixed point, the third fixed point, and the billiard ball center, and obtain the second photographing position to a distance between the fourth fixed point, the fifth fixed point, the sixth fixed point, and the billiard ball center, wherein a distance from the first shooting position to the billiard is set to l _o1 , and the second shooting position The distance to the billiard is set to l _o2 , the radius of the billiard is set to r, the distance from the first photographing position to the billiard ball center is l _o1 + r, and the second photographing position is to the billiard The distance between the _{centers of the} sphere is l _o2 +r;

a first calculating module, configured to respectively perform the first shooting according to the coordinates of the first fixed point, the second fixed point, and the third fixed point, and the first fixed point, the second fixed point, and the third fixed point a distance of the position to calculate coordinates of the first photographing position, and coordinates according to the fourth fixed point, the fifth fixed point, and the sixth fixed point, and the fourth fixed point, the fifth fixed point, and the sixth fixed point Calculating coordinates of the second photographing position by distances respectively from the second photographing position;

A second calculation module, based on coordinates of the photographing position of the first imaging position to calculate the first distance to the pool for the first interval l _o1 + r coordinate information, and according to the second imaging position coordinates Calculating second interval coordinate information of the distance from the second shooting position to the billiards as l _o2 +r, the first interval coordinate information including a plurality of distances to the first shooting position is l _o1 +r Coordinates, the second interval coordinate information includes a plurality of coordinate information of a distance to the second photographing position of l _o2 + r;

a spherical core coordinate acquiring module, configured to acquire coordinates of the billiard ball center, wherein coordinates of the billiard ball center are located in the first region coordinate information, and are also located in the second region coordinate information.

An electronic device comprising a processor for implementing a billiard position determining method for executing a computer program stored in a non-volatile storage medium, the billiard position determining method comprising the steps of:

Obtaining a first photo taken at a first shooting position, the first photo comprising a billiard tabletop, a billiard on the billiard table top, a first fixed point, a second fixed point, and a third fixed point, wherein the The first fixed point, the second fixed point, and the third fixed point are known relative to a coordinate of a reference coordinate system;

Obtaining a distance from the first photographing position to the first fixed point, the second fixed point, the third fixed point, and the billiard ball center, wherein a distance from the first photographing position to the billiard ball is set to l _o1 , the radius of the billiard is set to r, the distance from the first shooting position to the billiard ball center is l _o1 + r;

Calculating the first point according to the coordinates of the first fixed point, the second fixed point, and the third fixed point, and the distance from the first fixed point, the second fixed point, and the third fixed point to the first shooting position The coordinates of a shooting position;

Coordinate calculation based on the first imaging position to the first position on the photographing distance is billiards l _o1 + r coordinate information of a first section, said first section comprising a plurality of coordinate information to the first The distance of the shooting position is the coordinates of l _o1 +r;

Acquiring a second photo taken at a second shooting position different from the first shooting position, the second photo including the billiard tabletop, the billiards, a fourth fixed point, a fifth fixed point, and a a six fixed point, wherein the fourth fixed point, the fifth fixed point, and the sixth fixed point are known relative to coordinates of the reference coordinate system, the second photo and the first photo The billiard has no change in the position of the billiard tabletop;

Obtaining a distance from the second shooting position to the fourth fixed point, the fifth fixed point, and the sixth fixed point, respectively, and the billiard ball center, wherein a distance from the second shooting position to the billiard ball is set to l _o2 , the distance from the second shooting position to the billiard ball center is l _o2 + r;

Calculating the number according to the coordinates of the fourth fixed point, the fifth fixed point, and the sixth fixed point, and the distance from the fourth fixed point, the fifth fixed point, and the sixth fixed point to the second shooting position respectively Second, the coordinates of the shooting position;

Calculating, according to the coordinates of the second photographing position, second interval coordinate information of the distance from the second photographing position to the billiards as l _o2 +r, the second interval coordinate information including a plurality of to the second The distance of the shooting position is the coordinate information of l _o2 +r; and

Obtaining coordinates of the billiard ball center, wherein coordinates of the billiard ball center are located in the first region coordinate information, and also in the second region coordinate information.

Compared with the prior art, the billiard position determining method, the billiard position determining device and the electronic device of the present invention can determine the position of the billiard by analyzing the photograph, thereby positioning the billiard position, conveniently calculating the hitting path and giving the hitting suggestion, and The billiards can be improved by the electronic device to provide the hitting suggestions to the user.

DRAWINGS

1 is a flow chart of a method for determining a billiard position of the present invention.

2 is a plan view showing two shooting positions, a fixed point of a billiard tabletop and a billiard tabletop, and billiards in the method for determining the position of the billiards shown in FIG. 1.

FIG. 3 is a schematic diagram showing the principle of acquiring the coordinates of the billiard ball center in the first embodiment of the method for determining the billiard position shown in FIG. 1. FIG.

4 is a schematic diagram of two overlapping coordinates of the determination of the method for determining the position of the billiards shown in FIG. 1.

FIG. 5 is a schematic diagram showing the principle of acquiring the coordinates of the billiard ball center in the second embodiment of the method for determining the billiard position shown in FIG. 1. FIG.

FIG. 6 is a schematic diagram showing the principle of the step of acquiring the coordinates of the billiard ball center in the third embodiment of the method for determining the billiard position shown in FIG. 1.

FIG. 7 is a schematic diagram showing the principle of acquiring the coordinates of the billiard ball center in the fourth embodiment of the method for determining the billiard position shown in FIG. 1. FIG.

8 is a schematic structural view of an electronic device using the first embodiment of the method for determining the position of the billiards shown in FIG. 1.

Fig. 9 is a view showing the configuration of an electronic apparatus using a second embodiment of the method for determining the position of the billiards shown in Fig. 1.

Main component symbol description

First shooting position O

Second shooting position O’

Third shooting position O’’

First fixed point A

Second fixed point B

Third fixed point C

Billiards desktop 100

Billiards 101

Steps S1-S9

Electronic equipment 10

Billiard position determining device 20

Non-volatile storage medium 30

Processor 40

Camera 50

Distance sensor 60

Photo acquisition module 210

Distance acquisition module 220

First calculation module 230

Second calculation module 240

Ball center coordinate acquisition module 250

3D camera 70

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "left", "right", and the like, as used herein, are for illustrative purposes only.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention.

Please refer to FIG. 1. FIG. 1 is a flow chart of a method for determining a billiard position according to the present invention. The method for determining the position of the billiards includes the following steps S1-S9.

Step S1: Acquire a first photo taken at a first shooting position, where the first photo includes a billiard tabletop, a billiard on the billiard tabletop, a first fixed point, a second fixed point, and a third fixed point. The first fixed point, the second fixed point, and the third fixed point are known relative to a coordinate of a reference coordinate system.

Please refer to FIG. 2. FIG. 2 is a plan view showing the two shooting positions, the fixed position of the billiard table and the billiard tabletop, and the billiards in the method for determining the position of the billiard. Specifically, photographing of the first photograph may be performed at the first photographing position O using a photographing device such as a camera. It can be understood that the camera (such as a camera) can be a camera on an electronic device (such as an electronic device such as a smart phone or a tablet). The first photographing position O is a position at which a first fixed point A, a second fixed point B, a third fixed point C, and a billiard 101 located on the billiard table top 100 on the billiard table top 100 can be photographed. Therefore, the first photo includes a billiard tabletop 100, a billiard 101 located on the billiard tabletop 100, and a first fixed point A, a second fixed point B, and a third fixed point C on the billiard table. The first fixed point A, the second fixed point B, and the third fixed point C are known relative to a coordinate of a reference coordinate system, such as the first fixed point A, the second fixed point B, and the third fixed point. Point C can be the identification point of the billiard tabletop (such as three identification points on the snooker tabletop), the specific identification point on the billiard table or the billiard table, or other additional locations (such as outside the pool table). In the present embodiment, the first fixed point A, the second fixed point B, and the third fixed point C are fixed points on the billiard table top 100 as an example. Wherein, the reference coordinate system may be a horizontal plane of the billiard table, wherein a position of a bag of the billiard table is a coordinate zero point (0, 0, 0), where the sides of the bag are located The straight line is the x-axis and the y-axis (if the direction of the line where the longer Tuni is located is the x-axis, the direction of the line where the shorter Tuni is located is the y-axis), and the direction of the billiard table is perpendicular to The z-axis, wherein the z-axis coordinates of the points above the billiard table top are positive (ie greater than 0).

Please refer to FIG. 3. FIG. 3 is a schematic diagram showing the principle of acquiring the coordinates of the billiard ball center in the first embodiment of the method for determining the billiard position shown in FIG. 1. Since the first fixed point A, the second fixed point B, and the third fixed point C are fixed points on the billiard table top 100, the first fixed point A, the second fixed point B, and the third fixed point The coordinates of C are known, and the coordinates of the first fixed point A, the second fixed point B, and the third fixed point C are respectively (x ₁ , y ₁ , 0), (x ₂ , y ₂ , 0), (x ₃ , y ₃ , 0) Further, it is assumed that the coordinates of the first photographing position O can be set to (x, y, z).

It can be understood that the billiard table may include a plurality of billiards, and the billet may also be photographed on the first photo. In the present case, the billing position is mainly described by taking the billiard as an example. It can be understood that the method for determining the position of the other billiards can be substantially the same as the method for determining the position of the billiards. Therefore, the icons in the present case are not drawn and illustrated, but the billiard tabletop is not affected by the determination method of the billiard position using the case. The positions of all the billiards on the board are all determined, that is, the coordinates of all the billiards are calculated, so that the billiard table and the model of all the billiards are established by using the coordinates of all billiards, thereby analyzing and calculating the most suitable hit by the model. Billiards and give suggestions for hitting.

Step S2, obtaining a distance from the first photographing position to the first fixed point, the second fixed point, the third fixed point, and the billiard ball center, wherein the first photographing position to the billiard ball The distance is set to l _o1 , the radius of the billiard is set to r, and the distance from the first photographing position to the billiard ball center is l _o1 + r.

Specifically, in the step S2, the first shooting position O can be detected by the distance sensor to the first fixed point A, the second fixed point B, the third fixed point C, and the billiard 101, respectively. the distance. It can be understood that the distance from the first photographing position to the first fixed point A is the first photographing position O (such as the center of the framing surface of the first photographing position where the photographing device is located) to the first The distance from the center of the fixed point A is set to l ₁ ; the distance from the first photographing position O to the second fixed point B is the distance from the first photographing position O to the center of the second fixed point B Set to l ₂ ; the distance from the first photographing position O to the third fixed point C is the distance from the first photographing position O to the center of the third fixed point C, and is set to l ₃ ; The distance from the first photographing position O to the billiard 101 is: the distance of the surface of the billiard 101 closest to the first photographing position O, which is set to l _o1 , and the radius of the billiard is set to r. It can be understood that, in an embodiment, since the billiard ball core may be blocked, the distance l _o1 of the surface of the billiard 101 closest to the first photographing position O cannot be directly detected by the distance sensor. At this time, the distance l _o1 ' of the surface of the billiard 101 that is farthest from the first photographing position O can be detected by the distance sensor, and calculated according to the l _o1 ' and the r by the Pythagorean theorem The distance from the first photographing position to the billiard ball center is obtained as l _o1 + r. Specifically, the l _o1 and l _o1 ' are in accordance with the following formula:

l _o1 +r=

.

The distance sensor may be a distance sensor disposed on an electronic device (such as a smart phone, a tablet computer, or the like), such as an infrared distance sensor, a laser distance sensor, or the like, which may be adjacent to the photographing device for taking a photo. Providing, for emitting a sensing signal of infrared, laser, or the like into a shooting range of the photo, and receiving the sensing signal reflected by the target scene to analyze depth information of the target scene (ie, with the first shooting position O Distance information).

The distance sensor may also be disposed on a distance sensing component on the photographing device (such as the photographing head), such as the photographing device may be a 3D photographing device, for photographing a two-dimensional photograph and detecting the The depth information (ie, the distance information from the first photographing position O) of the target scene (such as the fixed points A, B, C and the billiards 101) involved in the two-dimensional photograph.

Step S3, calculating, according to the coordinates of the first fixed point, the second fixed point, and the third fixed point, and the distance between the first fixed point, the second fixed point, and the third fixed point respectively to the first shooting position The coordinates of the first shooting position.

Specifically, in the step S3, according to the distance calculation formula of any two of the reference coordinate systems, the distance from the first shooting position O to the first fixed point A satisfies: (xx ₁ ) ² + (yy ₁ ) ² + z ² = l ₁ ² ; the distance from the first photographing position O to the second fixed point B satisfies: (xx ₂ ) ² + (yy ₂ ) ² + z ² = l ₂ ² The distance from the first photographing position O to the third fixed point C satisfies: (xx ₃ ) ² + (yy ₃ ) ² + z ² = l ₃ ² . Since x ₁ , x ₂ , x ₃ , y ₁ , y ₂ , y ₃ , l ₁ , l ₂ , and l ₃ are all known in the above formula, the coordinates of the first photographing position O can be calculated. (x, y, z). It can be understood that, in principle, two coordinate values can be obtained by the above formula, and a coordinate with the z-axis coordinate value z being positive can be selected.

In step S4, the first interval coordinate information of the distance from the first shooting position to the billiard is l _o1 + r is calculated according to the coordinates of the first shooting position, and the first interval coordinate information includes multiple The distance of the first shooting position is the coordinate of l _o1 +r.

Further, in the step S4, the distance from the first photographing position O to the billiard 101 is calculated as l _o1 + according to the coordinates (x, y, z) of the first photographing position O obtained in step S3. The first interval coordinate information of r, it can be understood that the first region 102 formed by sequentially connecting the plurality of coordinates of the first interval coordinate information is a circular arc region or a circular region (the embodiment shown in FIG. 3 mainly The first area 102 is described as an arc area. It can be understood that since the distance from the center 101a of the billiard 101 to the first photographing position O is also l _o1 +r, the first section coordinate information is The coordinates of the center of the ball 101a of the billiards 101 are included.

It can be seen that the above-mentioned first photo and the distances l1, l2, l3, and l4 cannot determine the coordinates of the center 101a of the billiard 101. Further, refer to steps S5-S9.

Step S5, acquiring a second photo taken at a second shooting position different from the first shooting position, where the second photo includes the billiard tabletop, the billiard, the fourth fixed point, and the fifth fixed a point and a sixth fixed point, wherein the fourth fixed point, the fifth fixed point, and the sixth fixed point are known relative to coordinates of the reference coordinate system, the second photo and the first sheet The billiards in the photo have no change in the position of the billiard table.

Specifically, the photographing device (such as a camera) may be used to perform the photographing of the second photograph at the second photographing position O′, wherein the photographing device may be the same photographing device as the photographing device that photographs the first photograph. However, it can be understood that the photographing device of the second photo may not be the same photographing device as the photographing device of the first photo (such as cameras of two different mobile phones respectively). The fourth fixed point, the fifth fixed point and the sixth fixed point may also be the identification points of the billiard tabletop (such as three identification points on the snooker tabletop), billiard table table, billiard tabletop or extra The other fixed position (such as a specific position outside the billiard table) is added, and in the embodiment, the fourth fixed point, the fifth fixed point, and the sixth fixed point are fixed points on the billiard table top 100, and A fixed point that overlaps with the first fixed point A, the second fixed point B, and the third fixed point C will be described as an example. That is, in the present embodiment, the first fixed point A, the second fixed point B, and the third fixed point C may be the same as the fourth fixed point, the fifth fixed point, and the sixth fixed point, respectively; In an embodiment, the first fixed point A, the second fixed point B, and the third fixed point C may be the same as or different from the positional parts of the fourth fixed point, the fifth fixed point, and the sixth fixed point.

The second photographing position O′ is a first fixed point A, a second fixed point B, a third fixed point C, and the billiard 101 located on the billiard table top 100 on the billiard table top 100 . Position, therefore, the second photo includes a billiard tabletop 100, the billiards 101 on the billiard tabletop 100, and a first fixed point A (ie, a fourth fixed point) on the billiard tabletop 100, and a second fixed Point B (ie, the fifth fixed point) and the third fixed point C (ie, the sixth fixed point). Wherein the second photo and the billiard 101 in the first photo have no change in the position of the billiard tabletop 101, that is, the first photo and the second photo are for the same target. Scenery (the position of each billiard on the billiard table is unchanged) Two photos taken at different locations. The step S5 may be performed after the step S4 is completed, or may be performed after the step S1 or S2 is completed. Further, it is assumed that the coordinates of the second photographing position O' can be set to (x', y', z').

Step S6: acquiring a distance from the second shooting position to the fourth fixed point, the fifth fixed point, the sixth fixed point, and the billiard ball center, wherein the second shooting position is to the billiard The distance is set to l _o2 , and the distance from the second shooting position to the billiard ball center is l _o2 + r.

Specifically, in the step S6, the second shooting position O' can be detected by the distance sensor involved in the step S2 to the first fixed point A (ie, the fourth fixed point) and the second The fixed point B (ie, the fifth fixed point), the third fixed point C (ie, the sixth fixed point), and the distance of the billiard 101. It can be understood that the distance from the second photographing position O' to the first fixed point A is the second photographing position O' (such as the center of the framing surface of the second photographing position where the photographing device is located) to the a distance of the center of the first fixed point A is set to ₁₄ ; a distance from the second photographing position O' to the second fixed point B is the second photographing position O' to the second fixed point The distance from the center of B is set to l ₅ ; the distance from the second photographing position O' to the third fixed point C is the distance from the second photographing position O' to the center of the third fixed point C , to l _6; a second imaging position O 'distance to the pool of 101: 101 closest to the surface of the pool to the second imaging position O' from the point to l _o2. It can be understood that, in an embodiment, since the billiard ball core may be blocked, the distance from the point where the surface of the billiard 101 is closest to the second photographing position O′ cannot be directly detected by the distance sensor. _O2 , at this time, the distance l _o2 ' of the surface of the billiard 101 that is farthest from the second photographing position O' can be detected by the distance sensor, and the _{parsing is} performed according to the l _o2 ' and the r The theorem calculates that the distance from the first photographing position to the billiard ball center is l _o2 + r. Specifically, the l _o2 and l _o2 ' are in accordance with the following formula:

l _o2 +r=

.

The step S6 may be performed after the step S5 is completed, or may be performed after the step S1 or S2 is completed, that is, the steps S3 and S4 may be performed after the steps S1, S2, S5 and S6. .

Step S7, calculating, according to the coordinates of the fourth fixed point, the fifth fixed point, and the sixth fixed point, and the distance between the fourth fixed point, the fifth fixed point, and the sixth fixed point respectively to the second shooting position The coordinates of the second shooting position.

Specifically, in the step S7, according to the distance calculation formula of any two of the reference coordinate systems, the distance from the second shooting position O' to the first fixed point A (ie, the fourth fixed point) is known. Satisfying: (x'-x ₁ ) ² + (y'-y ₁ ) ² + (z') ² = l ₄ ² ; the second photographing position O' to the second fixed point B (ie, fifth The distance of the fixed point) satisfies: (x'-x ₂ ) ² + (y'-y ₂ ) ² + (z') ² = l ₅ ² ; the second photographing position O' to the third fixed point The distance of C (ie, the sixth fixed point) satisfies: (x'-x ₃ ) ² + (yy ₃ ) ² + (z') ² = l ₆ ² . Since x ₁ , x ₂ , x ₃ , y ₁ , y ₂ , y ₃ , l ₄ , l ₅ , and l ₆ are all known in the above formula, the second photographing position O′ can be calculated. Coordinates (x', y', z'). It can be understood that, in principle, two coordinate values can be obtained by the above formula, and a coordinate in which the z-axis coordinate value z' is positive is selected. It can be understood that the principle of calculating the coordinates of the second shooting position O′ in the step S7 is basically the same as the principle of calculating the coordinates of the first shooting position O in the step S3.

Step S8, the coordinate calculation according to the second imaging position to the second position of the photographing distance to the billiard l _o2 + r coordinate information of a second section, said second section comprising a plurality of coordinate information to the The distance of the second shooting position is the coordinate information of l _o2 +r.

Further, in the step S8, the second shooting position O' is calculated on the billiard 101 according to the coordinates (x', y', z') of the second shooting position O' obtained in step S7. l _o2 + r is the distance second section coordinate information, can be appreciated, a plurality of coordinates of the second coordinate information section of the second connection region are sequentially formed in a circular area 103, to be understood that, since the pool 101 The distance from the center of the core 101a to the second photographing position O' is also _l02 +r, so the second section coordinate information includes the coordinates of the center of the ball 101a of the billiards 101. It can be understood that the principle of calculating the second interval coordinate information in the step S8 is basically the same as the principle of calculating the first interval coordinate information in the step S4.

Step S9: Acquire coordinates of the billiard ball center, wherein coordinates of the billiard ball center are located in the first area coordinate information, and are also located in the second area coordinate information.

As shown in FIG. 3, in the first embodiment, the first interval coordinate information and the second interval coordinate information obtained in step S8 are obtained according to the step S4, and the first interval coordinate information and the The second interval coordinate information includes an overlapping coordinate, and the coordinates of the billiard ball center are the one overlapping coordinates. Therefore, the step S9 may include the following steps:

Obtaining overlapping coordinates located in the first region coordinate information and also in the second region coordinate information; and

If the number of the overlapping coordinates is one, the one overlapping coordinate is used as the coordinates of the billiard ball center.

However, as shown in FIG. 4, the first interval coordinate information and the second interval coordinate information obtained in step S8 are obtained according to the step S4, and the first interval coordinate information and the second interval coordinate information are known. Including two overlapping coordinates, the coordinates of the billiard ball center is one of the two overlapping coordinates, so it is necessary to select one of the two overlapping coordinates to coordinate the billiard ball center. Therefore, the step S9 includes the following steps:

Obtaining overlapping coordinates located in the first region coordinate information and also in the second region coordinate information;

If the number of the overlapping coordinates is two, one of the two overlapping coordinates is selected as the coordinates of the billiard ball center.

Hereinafter, a method of selecting the correct one coordinate as the coordinates of the billiard ball center will be described when the number of the overlapping coordinates is two.

Referring to FIG. 5, in the second embodiment, the step S9 may include the following steps S91-S95.

Step S91, acquiring a third photo taken at a third shooting position O′′ different from the first shooting position and the second shooting position, where the third photo includes the billiard tabletop, the billiard, a seventh fixed point, the eighth fixed point, and the ninth fixed point, wherein the seventh fixed point, the eighth fixed point, and the ninth fixed point are known relative to coordinates of the reference coordinate system, There is no change in the position of the billiard table in the third photo and the billiard in the first photo.

Specifically, the shooting of the third photo may be performed at the third shooting position O′′ using a photographing device (such as a camera), wherein the photographing device may be used with a photographing device that captures the first and second photographs For the same shooting device, it can also be a different camera (such as cameras with three different mobile phones). The seventh fixed point, the eighth fixed point, and the ninth fixed point may also be the identification points of the billiard tabletop (such as three identification points on the snooker tabletop), the billiard table, the billiard tabletop, or The specific identification point on the additional location (such as a specific location outside the billiard table), in the embodiment, the seventh fixed point, the eighth fixed point, and the ninth fixed point are fixed on the billiard table top 100 A fixed point that coincides with the first fixed point A, the second fixed point B, and the third fixed point C will be described as an example. That is, in the present embodiment, the first fixed point A, the second fixed point B, and the third fixed point C may be the same as the seventh fixed point, the eighth fixed point, and the ninth fixed point, respectively; In an embodiment, the first fixed point A, the second fixed point B, and the third fixed point C may be at least partially identical or different from positions of the seventh fixed point, the eighth fixed point, and the ninth fixed point. . It can be understood that, in an embodiment, the positions of the seventh fixed point, the eighth fixed point, and the ninth fixed point may also be the same as the positions of the fourth, fifth, and sixth fixed points, or partially the same or Different from each other, the coordinates of the seventh fixed point, the eighth fixed point, and the ninth fixed point are not affected, and the third shooting position is respectively to the seventh fixed point, the eighth fixed point, and the ninth fixed point The coordinates of the third shooting position O'' are calculated by the distance of the point and the billiard.

The third photographing position O′′ is a first fixed point A, a second fixed point B, a third fixed point C, and the billiard 101 located on the billiard table top 100 that can be photographed on the billiard table top 100 . The second photo includes a billiard tabletop 100, the billiards 101 on the billiard tabletop 100, and a first fixed point A (ie, a seventh fixed point) on the billiard tabletop 100, and a second Fixed point B (ie the eighth fixed point) and third fixed point C (ie the ninth fixed point). Wherein the third photo and the billiard 101 in the first and second photos do not change in the position of the billiard tabletop 101, that is, the first photo, the second photo And the third photo is three photos taken at different locations for the same target scene (the position of each billiard on the billiard table is unchanged). Further, it is assumed that the coordinates of the third photographing position O'' can be set to (x'', y'', z''). It can be understood that the principle of calculating the coordinates of the third shooting position O'' in the step S91 is substantially the same as the principle of calculating the coordinates of the first shooting position O in the step S3.

Step S92, acquiring a distance from the third shooting position to the seventh fixed point, the eighth fixed point, the ninth fixed point, and the billiard ball center, wherein the third shooting position is to the billiards The distance is set to l _o3 , and the distance from the third shooting position to the billiard ball center is l _o3 + r.

Specifically, in the step S92, the third shooting position O′′ can be detected by the distance sensor involved in the above steps S2 and S6 to the first fixed point A (ie, the seventh fixed point). The second fixed point B (ie, the eighth fixed point), the third fixed point C (ie, the ninth fixed point), and the distance of the billiard 101. It can be understood that the distance from the third photographing position O′′ to the first fixed point A is the third photographing position O′′ (such as the center of the framing surface of the third photographing position where the photographing device is located) a distance to the center of the first fixed point A is set to ₁₇ ; a distance from the third photographing position O'' to the second fixed point B is the third photographing position O'' to the The distance from the center of the second fixed point B is set to ₁₈ ; the distance from the third shooting position O'' to the third fixed point C is the third shooting position O'' to the third fixed from the center point C is set to l _9; the third imaging position O '' distance to the pool 101 as follows: the surface closest to the third pool 101 of the imaging position O 'points' of the Distance is set to l _o3 . It can be understood that, in an embodiment, since the billiard ball core may be blocked, the distance from the point where the surface of the billiard 101 is closest to the third photographing position O′′ cannot be directly detected by the distance sensor. l _o3 , at this time, the distance l _o3 ′ of the surface of the billiard 101 that is farthest from the third shooting position O′′ can be detected by the distance sensor, and passed according to the l _{o 3} ′ and the r The Pythagorean theorem calculates that the distance from the first photographing position to the billiard ball center is l _o3 + r. Specifically, the l _o3 and l _o3 ' are in accordance with the following formula:

l _o3 +r=

.

Step S93, calculating, according to the coordinates of the seventh fixed point, the eighth fixed point, and the ninth fixed point, and the distance between the seventh fixed point, the eighth fixed point, and the ninth fixed point respectively to the third shooting position The coordinates of the third shooting position.

Specifically, in the step S93, according to the distance calculation formula of any two of the reference coordinate systems, the third shooting position O′′ to the first fixed point A (ie, the seventh fixed point) The distance satisfies: (x''-x ₁ ) ² + (y''-y ₁ ) ² + (z'') ² = l ₇ ² ; the third shooting position O'' to the second fixed point The distance of B (ie, the eighth fixed point) satisfies: (x''-x ₂ ) ² + (y''-y ₂ ) ² + (z'') ² = l ₈ ² ; the third shooting position O ''The distance to the third fixed point C (ie, the ninth fixed point) satisfies: (x''-x ₃ ) ² +(y''-y ₃ ) ² +(z'') ² =l ₉ ² . Since x ₁ , x ₂ , x ₃ , y ₁ , y ₂ , y ₃ , l ₇ , l ₈ , and l ₉ are all known in the above formula, the third photographing position O′′ can be calculated. The coordinates (x'', y'', z''). It can be understood that, in principle, two coordinate values can be obtained by the above formula, and the z-axis coordinate value z'' can be selected as a positive coordinate.

Step S94, calculating third section coordinate information of the distance from the third shooting position to the billiards as l _o3 +r according to the coordinates of the third shooting position, where the third section coordinate information includes multiple places The distance of the third shooting position is the coordinate information of l _o3 +r. It can be understood that the principle of calculating the third section coordinate information in the step S94 is basically the same as the principle of calculating the first section coordinate information in the step S4.

Further, in the step S94, the third shooting position O'' is calculated according to the coordinates (x'', y'', z'') of the third shooting position O'' obtained in step S93. The distance information on the billiard 101 is the third interval coordinate information of l _o3 + r. It can be understood that the third region 104 formed by sequentially connecting the plurality of coordinates of the third interval coordinate information is a circular region. The distance from the center 101a of the billiard 101 to the third photographing position O'' is also l _o3 +r, so the third section coordinate information includes the coordinates of the center 101a of the billiard 101.

Step S95, selecting one of the two overlapping coordinates as the coordinates of the billiard ball center according to the third area coordinate information and the two overlapping coordinates, wherein the coordinates of the billiard ball center are still located. The third area coordinate information.

Specifically, in the second embodiment, in step S95, the first interval coordinate information, the second interval coordinate information obtained in step S8, and the third interval coordinate are obtained according to step S94. It can be seen that the first section coordinate information, the second section coordinate information and the third section coordinate information only include one overlapping coordinate, and the coordinates of the billiard ball core 101a are the one overlapping coordinates.

Please refer to FIG. 6. FIG. 6 is a schematic diagram showing the principle of acquiring the coordinates of the billiard ball center in the third embodiment of the method for determining the billiard position shown in FIG. Different from the steps S91-S95 of the second embodiment shown in FIG. 5, in the third embodiment, the billiard table top is further divided into at least two fixed areas, and the at least two fixed areas are opposite. The coordinates of the reference coordinate system are fixed, and the step S9 may specifically include the following steps:

Determining, according to the first photo and/or the second photo, which fixed area the billiard is located, and selecting the billiard ball center according to the fixed area, the first area coordinate information, and the second area coordinate information The coordinates of the billiard ball center are also located in the fixed area.

Specifically, in the third embodiment, according to the first photo and/or the second photo, the billiard 101 is located in the fixed area 100a, so according to the first photo and/or Or the information displayed by the second photo may be a coordinate of the coordinates of the two overlapping coordinates located in the fixed area 100a as the coordinates of the billiard ball core 101a.

Please refer to FIG. 7. FIG. 7 is a schematic diagram showing the principle of acquiring the coordinates of the billiard ball center in the fourth embodiment of the method for determining the billiard position shown in FIG. 1. Different from the steps S91-S95 of the second embodiment shown in FIG. 5, in the fourth embodiment, the billiard table top further includes a specific point, and the specific point is relative to the reference coordinate system. The coordinates are known, and the step S9 of selecting one of the two overlapping coordinates as the coordinates of the billiard ball center may include the following steps S991-S996.

Step S991, calculating coordinates of two projection points of the two overlapping coordinates on the billiard table, the projection points including a first projection point and a second projection point. As shown in FIG. 7, the specific point is T, and the two projection points are S1 and S2, respectively.

Step S992, acquiring coordinates of a first feature point on a first line defined by the first projection point and the specific point. The first feature point is located at a intersection of the first straight line with a known straight line on the billiard table (such as a billiard desktop library edge line, a kick-off line on a desktop, or a connection between two specific points on the desktop). At the office. It can be understood that the known straight line is known with respect to the coordinates of the reference coordinate system, as shown in FIG. 7 , the first straight line intersects the library edge line, the first straight line and the library edge line They are 105 and 107, respectively, and the first feature point is S3.

Step S993: Acquire coordinates of a second feature point on a second line defined by the second projection point and the specific point. The second feature point is located at an intersection of the second line and the known line on the billiard table. As shown in FIG. 7, the second line intersects the bank edge, the second line is 106, and the second feature point is S4.

Step S994, calculating a distance of the first feature point to the first or the second shooting position according to the coordinates of the first feature point S3, which is defined as a first distance.

Step S995, calculating a distance of the second feature point to the first or the second shooting position according to the coordinates of the second feature point S4, which is defined as a second distance.

Step S996, acquiring a third line defined by the specific point on the first or second photo and a projection point of the billiard center on the billiard table, and the third line and the first line a pixel point at the intersection of the known straight lines on the second photo, comparing the distance from the pixel point to the first or second photographing position to the first distance and the second distance, respectively The distance between the pixel point and the first or second photographing position is equal to the first distance, and the overlap coordinate corresponding to the first projection point is the coordinate of the billiard ball center; If the distance between the first and second shooting positions is equal to the second distance, the overlapping coordinates corresponding to the second projection point is the coordinates of the billiard ball center. Wherein, the distance from the pixel point to the first or second shooting position can be obtained by a distance sensor.

It can be understood that, in the steps S994, S995, and S996, if the distance of the first feature point to the first shooting position is selected in step S994, the second feature point is also selected to be calculated in step S995. Describe the distance of the first shooting position, and in step S996, obtain a third line defined by the specific point on the first photo and the projection point of the billiard ball in the billiard tabletop, thereby the pixel point Comparing the first photographing position distance with the first distance and the second distance, respectively, if the pixel point to the first photographing position distance and the first distance are equal, the first projection The overlap coordinate corresponding to the point is the coordinate of the billiard ball center; if the pixel point to the first photographing position distance and the second distance are equal, the overlapping coordinates corresponding to the second projection point is the billiard The coordinates of the center of the ball.

Further, in the steps S994, S995 and S996, if the distance from the first feature point to the second photographing position is selected in step S994, the second feature point is also selected to be calculated in step S995. Describe the distance of the second shooting position, and in step S996, obtain a third line defined by the specific point on the second photo and the projection point of the billiard ball center on the billiard tabletop, thereby the pixel point The second shooting position distance is respectively compared with the first distance and the second distance, and if the pixel point to the second shooting position distance is equal to the first distance, the first projection The overlap coordinate corresponding to the point is the coordinate of the billiard ball center; if the pixel point to the second photographing position distance and the second distance are equal, the overlapping coordinates corresponding to the second projection point is the billiard The coordinates of the center of the ball.

Please refer to FIG. 8. FIG. 8 is a schematic structural diagram of an electronic device according to a first embodiment of the method for determining a billiard position shown in FIG. 1. The electronic device 10 can be a smart smart phone, a tablet computer, a smart wearable device, or the like. The smart wearable device can be a virtual reality helmet device, an augmented reality helmet device (such as augmented reality glasses), or a smart watch. In the embodiment, the electronic device 10 is a smart phone. The electronic device 10 includes a billiard position determining device 20. The electronic device 10 further includes a non-volatile storage medium 30, a processor 40, a camera 50, and a distance sensor 60.

The billiard position determining device 20 may be a computer program segment loaded on the electronic device 10, and the billiard position determining method shown in FIG. 1 may be executed. In particular, the processor 40 may include one or more microprocessors, digital processors for executing at least one instruction to implement a billiard position determination method.

The camera 50 is used to take photos (such as a first photo, a second photo, and a third photo). Obviously, the invention is not limited to the present embodiment and is included in the electronic device 10, and may be an external camera. The communication can be with the electronic device 10 such that the captured photo can be transmitted to the electronic device 10 for analysis by the electronic device 10.

The distance sensor 60 may be a distance sensor infrared distance sensor, a laser distance sensor, or the like disposed on the electronic device, and may be disposed adjacent to the camera 50 for taking a photo for emitting infrared into the shooting range of the photo. And sensing a signal such as a laser, and receiving the sensing signal reflected by the target scene to analyze depth information of the target scene (ie, distance information from the first shooting position O), thereby detecting the camera 50 to the location The first fixed point, the second fixed point, the third fixed point, and the distance of the billiard.

Specifically, in the embodiment, the billiard position determining apparatus 20 includes a photo acquiring module 210, a distance acquiring module 220, a first calculating module 230, a second calculating module 240, and a spherical center coordinate acquiring module 250. A module as referred to in the present invention refers to a series of computer program segments that can be executed by a processor and that are capable of performing fixed functions, which can be stored in a non-volatile storage medium.

The photo obtaining module 210 may perform the steps S1, S5, and S91, etc., the distance acquiring module may perform the steps S2, S6, etc., the first calculating module 230 may perform the step S3, S7, etc., the second calculation module 240 can perform the steps S4, S8, and the like. The spherical center coordinate acquisition module 250 can perform the step S9. Since the above steps S1-S9 have been described in detail above, the specific execution steps of each module will not be described herein.

Please refer to FIG. 9. FIG. 9 is a schematic structural diagram of an electronic device according to a second embodiment of the method for determining a billiard position shown in FIG. 1. The electronic device 10 ′ of the second implementation is substantially the same as the electronic device 10 of the first embodiment, the difference between the two is mainly that the electronic device 10 ′ includes a 3D imaging device 70 , and the 3D imaging device 70 is used for Taking the first photo, the second photo, the third photo, and detecting the 3D imaging device 70 to the first fixed point, the second fixed point, the third fixed point, and the For the distance of the billiards, the 3D camera 70 may have a distance sensor for detecting the 3D camera 70 to the first fixed point A, the second fixed point B, the third fixed point C, and the The distance of the billiards 101.

Compared with the prior art, the billiard position determining method S1-S9, the billiard position determining device 20 and the electronic device 10, 10' of the present invention can determine the position of the billiards (such as billiards 101) by analyzing the photos, thereby positioning the billiards. It is convenient to calculate the hitting path and give a hit suggestion, and the hitting suggestion can be provided to the user through the electronic device 10, 10', thereby helping the billiard player to raise the hitting level.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments of the present invention. Neither should the spirit and scope of the technical solutions of the present invention be deviated. Those skilled in the art can also make other variations and the like in the spirit of the present invention for use in the design of the present invention as long as it does not deviate from the technical effects of the present invention. All changes made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims (14)

1. A method for determining a billiard position, characterized in that the method comprises:

   Obtaining a first photo taken at a first shooting position, the first photo comprising a billiard tabletop, a billiard on the billiard table top, a first fixed point, a second fixed point, and a third fixed point, wherein the The first fixed point, the second fixed point, and the third fixed point are known relative to a coordinate of a reference coordinate system;

   Obtaining a distance from the first photographing position to the first fixed point, the second fixed point, the third fixed point, and the billiard ball center, wherein a distance from the first photographing position to the billiard ball is set to l _o1 , the radius of the billiard is set to r, the distance from the first shooting position to the billiard ball center is l _o1 + r;

   Calculating the first point according to the coordinates of the first fixed point, the second fixed point, and the third fixed point, and the distance from the first fixed point, the second fixed point, and the third fixed point to the first shooting position The coordinates of a shooting position;

   Coordinate calculation based on the first imaging position to the first position on the photographing distance is billiards l _o1 + r coordinate information of a first section, said first section comprising a plurality of coordinate information to the first The distance of the shooting position is the coordinates of l _o1 +r;

   Acquiring a second photo taken at a second shooting position different from the first shooting position, the second photo including the billiard tabletop, the billiards, and a fourth fixed point on the billiard table, a fifth fixed point and a sixth fixed point, wherein the fourth fixed point, the fifth fixed point, and the sixth fixed point are known relative to coordinates of the reference coordinate system, the second photo and the The billiard in the first photo does not change in the position of the billiard tabletop;

   Obtaining, by the second shooting position, a distance from the fourth fixed point, the fifth fixed point, the sixth fixed point, and the billiard ball center, wherein the distance from the second shooting position to the billiard ball is set to l _o2 , the distance from the second shooting position to the billiard ball center is l _o2 + r;

   Calculating the number according to the coordinates of the fourth fixed point, the fifth fixed point, and the sixth fixed point, and the distance from the fourth fixed point, the fifth fixed point, and the sixth fixed point to the second shooting position respectively Second, the coordinates of the shooting position;

   Calculating, according to the coordinates of the second photographing position, second interval coordinate information of the distance from the second photographing position to the billiards as l _o2 +r, the second interval coordinate information including a plurality of to the second The distance of the shooting position is the coordinate information of l _o2 +r; and

   Obtaining coordinates of the billiard ball center, wherein coordinates of the billiard ball center are located in the first region coordinate information, and also in the second region coordinate information.
2. The billiard position determining method according to claim 1, wherein in the step of acquiring the distance from the first photographing position to the billiard ball center,

   a distance from a point at which the billiard surface is closest to the first photographing position to the first photographing position is not detected, and the billiard surface is farthest from the point of the first photographing position to the first When the distance l _o1 ' of the shooting position is detected, the distance from the first shooting position to the billiard ball center is calculated as l _o1 +r according to the l _o1 ' and the r.
3. The method for determining a billiard position according to claim 1, wherein the step of acquiring coordinates of the billiard ball center comprises:

   Obtaining overlapping coordinates located in the first region coordinate information and also in the second region coordinate information;

   If the number of the overlapping coordinates is one, the one overlapping coordinate is used as the coordinates of the billiard ball center.
4. The method for determining a billiard position according to claim 1, wherein the step of acquiring coordinates of the billiard ball center comprises:

   Obtaining overlapping coordinates located in the first region coordinate information and also in the second region coordinate information;

   If the number of the overlapping coordinates is two, one of the two overlapping coordinates is selected as the coordinates of the billiard ball center.
5. The billiard position determining method according to claim 3 or 4, wherein the first area coordinate information comprises a plurality of coordinates, and the first area formed by sequentially connecting the plurality of coordinates of the first area coordinate information is a circular arc-shaped region or a circular region; the second region coordinate information includes a plurality of coordinates, and the second region formed by sequentially connecting the plurality of coordinates of the second region coordinate information is a circular arc region or a circular region;
6. The method for determining a billiard position according to claim 4, wherein the method further comprises:

   Acquiring a third photo taken at a third shooting position different from the first shooting position and the second shooting position, the third photo including the billiard tabletop, the billiard, and a billiard table a seventh fixed point, an eighth fixed point, and a ninth fixed point, wherein the seventh fixed point, the eighth fixed point, and the ninth fixed point are known compared to coordinates of the reference coordinate system, and the third The photo and the billiard in the first photo have no change in the position of the billiard tabletop;

   Obtaining a distance from the third photographing position detected at the third photographing position to the seventh fixed point, the eighth fixed point, and the ninth fixed point, respectively, and the billiard, wherein the third photographing position The distance to the billiards is set to l _o3 ;

   Calculating the number according to the distance between the coordinates of the seventh fixed point, the eighth fixed point, and the ninth fixed point, and the seventh fixed point, the eighth fixed point, and the ninth fixed point respectively to the third shooting position The coordinates of the three shooting positions;

   Coordinate calculation according to the third imaging position to the third position on the photographing distance is billiards l _o3 + r coordinate information of the third section, said third section comprising a plurality of coordinate information to the third The distance of the shooting position is the coordinate information of l _o3 +r; and

   And selecting, according to the third area coordinate information and the two overlapping coordinates, one of the two overlapping coordinates as the coordinates of the billiard ball center, wherein the coordinates of the billiard ball center are further located in the Three-region coordinate information.
7. The billiard position determining method according to claim 6, wherein the third area coordinate information comprises a plurality of coordinates, and the third area formed by sequentially connecting the plurality of coordinates of the third area coordinate information is an arc Shaped area or circular area.
8. The billiard position determining method according to claim 4, wherein the billiard table top is further divided into at least two fixed areas, and the coordinates of the at least two fixed areas are fixed relative to the reference coordinate system. The step of selecting one of the two overlapping coordinates as the coordinates of the billiard ball center includes:

   Determining, according to the first photo and/or the second photo, which fixed area the billiard is located, and selecting the billiard ball center according to the fixed area, the first area coordinate information, and the second area coordinate information The coordinates of the billiard ball center are also located in the fixed area.
9. The billiard position determining method according to claim 4, wherein the billiard table top further comprises a specific point, the specific point is known relative to a coordinate of the reference coordinate system, and the selecting the two overlaps The step of using an overlapping coordinate in the coordinates as the coordinates of the billiard ball center includes:

   Calculating coordinates of two projection points of the two overlapping coordinates on the billiard table, the projection points including a first projection point and a second projection point;

   Obtaining, by the first projection point, a coordinate of a first feature point on a first line defined by the specific point, where the first feature point is located on the first straight line and the billiard table Knowing the intersection of straight lines;

   Obtaining, by the second projection point, a coordinate of a second feature point on a second line defined by the specific point, where the second feature point is located on the second line and the billiard table Know the intersection of straight lines;

   Calculating a distance from the first feature point to the first photographing position according to coordinates of the first feature point, defined as a first distance;

   Calculating, according to coordinates of the second feature point, a distance from the second feature point to the first photographing position, defined as a second distance; and

   Obtaining a third line defined by the specific point on the first photo and a projection point of the billiard center on the billiard table, and the known on the third line and the first photo a pixel at a point where the intersection of the lines intersects the first photographing position distance with the first distance and the second distance, respectively, if the pixel point is at a distance from the first photographing position and If the first distance is equal, the overlapping coordinate corresponding to the first projection point is the coordinate of the billiard ball center; if the pixel point to the first shooting position distance and the second distance are equal, the The overlapping coordinates corresponding to the second projection point are the coordinates of the billiard ball center.
10. The billiard position determining method according to claim 4, wherein the billiard table top further comprises a specific point, the specific point is known relative to a coordinate of the reference coordinate system, and the selecting the two overlaps The step of using an overlapping coordinate in the coordinates as the coordinates of the billiard ball center includes:

    Calculating coordinates of two projection points of the two overlapping coordinates on the billiard table, the projection points including a first projection point and a second projection point;

    Obtaining, by the first projection point, a coordinate of a first feature point on a first line defined by the specific point, where the first feature point is located on the first straight line and the billiard table Knowing the intersection of straight lines;

    Obtaining, by the second projection point, a coordinate of a second feature point on a second line defined by the specific point, where the second feature point is located on the second line and the billiard table Know the intersection of straight lines;

    Calculating a distance from the first feature point to the second photographing position according to coordinates of the first feature point, defined as a first distance;

    Calculating a distance from the second feature point to the second photographing position according to coordinates of the second feature point, defined as a second distance; and

    Obtaining a third line defined by the specific point on the second photo and a projection point of the billiard center on the billiard table, and the known on the third line and the second photo a pixel at a point where the intersection of the lines, the distance from the pixel point to the second photographing position is respectively compared with the first distance and the second distance, if the distance from the pixel point to the second photographing position is If the first distance is equal, the overlapping coordinate corresponding to the first projection point is the coordinate of the billiard ball center; if the pixel point to the second shooting position distance is equal to the second distance, the The overlapping coordinates corresponding to the second projection point are the coordinates of the billiard ball center.
11. A billiard position determining device, wherein the billiard position determining device comprises:

    a photo acquisition module, configured to acquire a first photo taken at the first shooting position and a second photo taken at a second shooting position different from the first shooting position, where the first photo includes a billiard tabletop a billiard, a first fixed point, a second fixed point and a third fixed point on the billiard table, wherein the first fixed point, the second fixed point and the third fixed point are compared with a coordinate of a reference coordinate system It is known that the second photo includes the billiard table top, the billiards, the fourth fixed point, the fifth fixed point, and the sixth fixed point, wherein the fourth fixed point, the fifth fixed point, and the The six fixed points are known relative to the coordinates of the reference coordinate system, and the second photo and the billiard in the first photo have no change in the position of the billiard tabletop;

    a distance acquiring module, configured to acquire a distance from the first photographing position to the first fixed point, the second fixed point, the third fixed point, and the billiard ball center, and obtain the second photographing position to a distance between the fourth fixed point, the fifth fixed point, the sixth fixed point, and the billiard ball center, wherein a distance from the first shooting position to the billiard is set to l _o1 , and the second shooting position The distance to the billiard is set to l _o2 , the radius of the billiard is set to r, the distance from the first photographing position to the billiard ball center is l _o1 + r, and the second photographing position is to the billiard The distance between the _{centers of the} sphere is l _o2 +r;

    a first calculating module, configured to respectively perform the first shooting according to the coordinates of the first fixed point, the second fixed point, and the third fixed point, and the first fixed point, the second fixed point, and the third fixed point a distance of the position to calculate coordinates of the first photographing position, and coordinates according to the fourth fixed point, the fifth fixed point, and the sixth fixed point, and the fourth fixed point, the fifth fixed point, and the sixth fixed point Calculating coordinates of the second photographing position by distances respectively from the second photographing position;

    A second calculation module, based on coordinates of the photographing position of the first imaging position to calculate the first distance to the pool for the first interval l _o1 + r coordinate information, and according to the second imaging position coordinates Calculating second interval coordinate information of the distance from the second shooting position to the billiards as l _o2 +r, the first interval coordinate information including a plurality of distances to the first shooting position is l _o1 +r Coordinates, the second interval coordinate information includes a plurality of coordinate information of a distance to the second photographing position of l _o2 + r;

    a spherical core coordinate acquiring module, configured to acquire coordinates of the billiard ball center, wherein coordinates of the billiard ball center are located in the first region coordinate information, and are also located in the second region coordinate information.
12. An electronic device, comprising: a processor for implementing a billiard position according to any one of claims 1-10 when the processor is configured to execute a computer program stored in a non-volatile storage medium Determine the steps of the method.
13. The electronic device according to claim 12, wherein the electronic device is a smart phone, the smart phone further includes a camera and a distance sensor, the camera is configured to capture the first photo and the In a second photo, the distance sensor is configured to detect a distance between the camera to the first fixed point, the second fixed point, the third fixed point, and the billiard.
14. The electronic device according to claim 12, wherein the electronic device is a smart phone, the smart phone further includes a 3D imaging device, and the 3D imaging device is configured to capture the first photo and the first Two photos and detecting the distance from the 3D camera to the first fixed point, the second fixed point, the third fixed point, and the billiard.

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