CN105944364B - A kind of golf localization method and device - Google Patents
A kind of golf localization method and device Download PDFInfo
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- CN105944364B CN105944364B CN201610286398.9A CN201610286398A CN105944364B CN 105944364 B CN105944364 B CN 105944364B CN 201610286398 A CN201610286398 A CN 201610286398A CN 105944364 B CN105944364 B CN 105944364B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/32—Golf
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
This application discloses a kind of golf localization method and device, methods described to include：Obtain the greens image of the greens at least one image capture device collection that T-ground is set；The greens image is identified, detects whether unidentified golf be present；When detection has unidentified golf, the positional information of golf falling sphere point in the greens is calculated；Determine to make position all-in-one corresponding to the golf；The positional information is sent to described and makes position all-in-one.The embodiment of the present application realizes golf and effectively positions, improves location efficiency and accuracy.
Description
Technical field
The application belongs to sports field, specifically, is related to a kind of golf localization method and device.
Background technology
Golf has attracted more and more now as a fashion, popular Leisure Sport amusement project
More people participates in.And golf driving cages is often the only way which must be passed of player, but the swing exercise repeated in training field moves
Make again player can be made to feel uninteresting and dull, it is impossible to transfer the enthusiasm of practising a ball game of player, greatly reduce the efficiency of exercise.
In order to transfer the exercise enthusiasm of sportsman and improve the exercise efficiency of sportsman, most of courts can all introduce scoring machine
System, scores the golf that sportsmen get.The mode to be scored at present golf, mainly according to Gao Er
Position of the falling sphere point of husband's ball in greens is determined, therefore how to be efficiently accurately positioned the falling sphere point position of golf,
To improve the golf scoring degree of accuracy, turn into those skilled in the art's technical problem in the urgent need to address.
The content of the invention
In view of this, technical problems to be solved in this application there is provided a kind of golf localization method and device,
Improve golf positional accuracy and location efficiency.
In order to solve the above-mentioned technical problem, this application discloses a kind of golf localization method, including：
Obtain and T-ground is set, the greens image of the greens of the image capture device collection corresponding to any one greens；
Wherein, multiple images collecting device is set in the court, and each greens corresponds at least one image capture device, is used for
Gather the greens image of the greens；
The greens image is identified, detects whether unidentified golf be present；
When detection has unidentified golf, the position of golf falling sphere point in the greens is calculated
Information；
Determine to make position all-in-one corresponding to the golf；Wherein, each is beaten position and sets a dozen all-in-ones；
The positional information is sent to described and makes position all-in-one, the position all-in-one of beating is used for according to the positional information
Carry out golf scoring.
Preferably, each greens corresponds to multiple images collecting device；
The identification greens image, detects whether that unidentified golf be present includes：
Previous that the greens image that any one image capture device corresponding to the greens currently gathers is gathered with it
Greens image is compared, and detects whether to have differences a little；
When detection has differences, identify whether the discrepancy is golf.
Preferably, from the different golf color differences beaten position and impacted out；
It is described to determine that making position all-in-one corresponding to the golf includes：
The golf color is identified, it is determined that corresponding with the golf color make position all-in-one.
Preferably, described obtain sets T-ground, the greens that image capture device corresponding to any one greens gathers
Before greens image, methods described also includes：
Receive it is any beat and sent when position one machine testing golf is impacted impact message when, triggering be arranged on ball
The greens image of each image capture device collection greens in.
A kind of golf positioner, including the multiple images collecting device of T-ground, each greens pair are set
At least one image capture device is answered, for gathering the greens image of the greens；The figure being connected with described image collecting device
As processing equipment；And be separately positioned on each beaten in bit location and beat position, it is connected with described image processing equipment multiple
Make position all-in-one；
Described image collecting device is used to gather the greens image for including greens；
Described image processing equipment is used to obtain the greens that image capture device corresponding to any one greens gathers
Greens image；The greens image is identified, detects whether unidentified golf be present；When golf be present in detection,
Calculate the positional information of golf falling sphere point in the greens；Determine to beat position one corresponding to the golf
Machine；The positional information is sent to described and makes position all-in-one；
The positional information made position all-in-one and be used to obtain the transmission of described image processing equipment；According to the positional information
Carry out golf scoring.
Preferably, the position all-in-one of beating includes computing device, radar module and batting detection module；
The batting detection module is used to detect whether golf is impacted；
The radar module is used to track the golf, and positioning to the falling sphere point of the golf；
The computing device is used to be impacted in the batting detection module detection golf, in the golf quilt
In preset time after impact, when not receiving the positional information of described image processing equipment transmission, the radar mould is obtained
The radar fix information of the golf T-ground falling sphere point of block positioning, and Gao Er is carried out according to the radar fix information
Husband's ball commentary point；In the golf by the preset time after impact, the position of described image processing equipment transmission is received
When confidence ceases, golf scoring is carried out according to the positional information.
Preferably, the centrally disposed marker of the greens；Described image processing equipment is when golf be present in detection, meter
Calculating golf positional information of falling sphere point in the greens is specifically：
When detection has unidentified golf, the golf is calculated in the greens, relatively described fruit
The positional information of the falling sphere point at ridge center；
The computing device carries out golf scoring according to the positional information：
The positional information is converted into the conversion positional information in the radar module corresponds to coordinates computed system, and root
Golf scoring is carried out according to the conversion positional information.
Preferably, from the different golf color differences beaten position and impacted out；Described image processing equipment determines the height
Making position all-in-one corresponding to golf ball is specifically：
The golf color is identified, it is determined that corresponding with the golf color make position all-in-one.
Preferably, each greens corresponds to multiple images collecting device；
Described image processing equipment is identified in the greens image, detects whether that golf be present is specifically：
Previous that the greens image that any one image capture device corresponding to the greens currently gathers is gathered with it
Greens image is compared, and detects whether to have differences a little；When detection has differences, identify whether the discrepancy is high
Golf ball.
Preferably, the position all-in-one of beating is additionally operable to detect golf when being impacted, and is sent out to described image processing equipment
Send impact message；
Described image processing equipment is additionally operable to get any when beating the impact message that position all-in-one is sent, and triggers institute
State image capture device collection greens image.
Compared with prior art, the application can be obtained including following technique effect：
The greens image of greens is included by the image capture device collection of deployment T-ground, by the greens image
It is identified, unidentified golf, and the falling sphere point of golf can be whether there is with effective detection, so as to count
The positional information for obtaining falling sphere point in greens is calculated, the positional information, which can be used to realize, to score golf.It is logical
Cross image recognition can fast and effective positioning golf, improve setting accuracy and location efficiency.
Certainly, implementing any product of the application must be not necessarily required to reach all the above technique effect simultaneously.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen
Schematic description and description please is used to explain the application, does not form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is a kind of structural representation of golf positioner one embodiment of the embodiment of the present application；
Fig. 2 is a kind of structural representation of another embodiment of golf positioner of the embodiment of the present application；
Fig. 3 is the structural representation that position all-in-one is made in the golf positioner of the embodiment of the present application；
Fig. 4 is a kind of schematic diagram of golf falling sphere point position in the embodiment of the present application；
Fig. 5 is another schematic diagram of golf falling sphere point position in the embodiment of the present application；
Fig. 6 is a kind of schematic diagram of golf falling sphere point position transformational relation in the embodiment of the present application；
Fig. 7 is another schematic diagram of golf falling sphere point position transformational relation in the embodiment of the present application；
Fig. 8 is a kind of structural representation of golf localization method one embodiment of the embodiment of the present application；
Fig. 9 is that a kind of structure of one embodiment of processing unit for realizing golf positioning of the embodiment of the present application is shown
It is intended to.
Embodiment
Presently filed embodiment is described in detail below in conjunction with drawings and Examples, and thereby how the application is applied
Technological means can fully understand and implement according to this to solve technical problem and reach the implementation process of technical effect.
Technical scheme is primarily adapted for use in golf driving cages, by positioning golf, to realize to sportsman
The golf got is scored, and certainly, the application is simultaneously not only limited with golf driving cages and to golf ball commentary
Point, the application scenarios of any need positioning golf, can it use technical scheme to realize.
Current golf positioning method, typically by the way of radar tracking positioning, by reasons such as environmental factors
Influence, accuracy still can not ensure.
In order to provide golf setting accuracy, inventor passes through a series of technical schemes for researching and proposing the application,
In the embodiment of the present application, multiple images collecting device is set in court, each greens corresponds at least one IMAQ and set
It is standby, the greens image of the greens is included for gathering, so as to by being gathered to image capture device corresponding to any one greens
Greens image be identified, can to whether there is unidentified golf described in effective detection in greens, and it is described not
The falling sphere point of the golf of identification, so as to calculate the positional information for obtaining falling sphere point in the greens, position letter
Breath, which can be used to realize, to score golf.By image recognition can fast and effective positioning golf, carry
High setting accuracy and location efficiency.
Technical scheme is described in detail below in conjunction with accompanying drawing.
Fig. 1 is a kind of structural representation of golf positioner one embodiment that the embodiment of the present application provides, should
Device includes setting T-ground multiple images collecting device 101, and each greens corresponds at least one image capture device, uses
In the greens image for gathering the greens, the image processing equipment 102 being connected with described image collecting device 101 and it is arranged on
Each beat that each in bit location beats in position 20 it is multiple make position all-in-one 103, each is beaten position 20 and is respectively provided with a dozen positions one
Body machine 103.
In the embodiment of the present application, the court is specifically golf driving cages.
In golf driving cages, greens are usually virtual greens, using markers such as flagpoles as greens center, apart from fruit
The diameter range of ridge center certain distance is as greens.Marker can select flagpole in the embodiment of the present application, as in greens
The heart.
By setting several annulus in virtual greens, each annulus assigns different fractions, you can for sportsman
The golf impacted out is scored.
In golf driving cages, including it is multiple beat position, beating bit quantity can be determined by court width.These dozen of positions can
With form it is multiple beat bit location, each beat bit location include it is continuous it is multiple beat position, difference beats bit location can be close to also may be used
With spaced apart.Each, which beats bit location, can correspond to multiple greens, be separately positioned on distance and beat 50 yards of bit location, and 100
Code, 150 yards, 200 yards of opening position or other positions.Only corresponding one of each greens beat bit location, and greens center is corresponding
Position is beaten in the centre for beating bit location.
In fig. 1 it is shown that one group is beaten a greens corresponding to bit location, beat bit location and beat position, greens center including 5
Position is beaten among corresponding.
Image capture device 101 sets T-ground, by adjusting image capture device so that image capture device can be with
Collection obtains the greens image for including greens.
Wherein, in the image capture device that court is set, the image capture device for gathering a greens can wrap
Include it is multiple, can be each greens dispose multiple images collecting device.
In Fig. 1, show a case that image capture device corresponding to a greens can include three, one of image
Collecting device 101 is arranged on the centre beaten in bit location and beats position corresponding position, can be the roof beaten directly over position of centre or
The higher position of person.Two other image capture device 101 is arranged on the opposition both sides of greens, and its line beats position with being arranged on centre
Line near normal of the image capture device of corresponding position to greens center.Right angle can be established using greens center as origin
Coordinate system, be arranged on the middle image capture device for beating position corresponding position to greens center line connecting direction be Y-axis, vertical Y axle
Direction be X-axis.
Wherein, each greens can be correspondingly arranged at the centre beaten in bit location and beat the same of position corresponding position
Image capture device, the greens image of each greens can be gathered respectively.Two are independently set in each greens both sides
Individual image capture device, it is only used for gathering the greens image of the greens.
Certainly, it can also be that each greens independently sets one that position corresponding position is beaten in the centre in bit location is beaten
Individual image capture device equipment, it is only used for gathering the greens image of a greens.
Also it is that three image capture devices that each greens is independently arranged can be arranged according to shown in Fig. 1.
Certainly, as another embodiment, three image capture devices 101 being independently arranged for each greens can be with
Arrange as shown in Figure 2, one of them beats position corresponding position as collecting device 101 is arranged on the centre beaten in bit location, can
To be the middle roof beaten directly over position or higher position.Two other image capture device 101, which is arranged on, beats bit location
Both sides.
It should be noted that the application and not only limit with Fig. 1 or Fig. 2 described in image capture device arrangement with
And arrangement quantity.The quantity of image capture device and position can be selected according to court actual conditions.By to be each
Individual greens deployment multiple images collecting device can avoid arbitrary image collecting device from leading to not accurately gather due to being blocked
The problem of to golf.
Wherein, image capture device 101 is used to gather the greens image for including greens；
Image processing equipment 102 is used for the fruit for obtaining the greens that image capture device corresponding to any one greens gathers
Ridge image；The greens image is identified, detects whether unidentified golf be present；Unidentified golf be present in detection
During ball, the positional information of golf falling sphere point in the greens is calculated；Determine to beat position corresponding to the golf
All-in-one；By the golf, the positional information of falling sphere point sends to described and makes position all-in-one in the greens；
Image capture device corresponding to any one greens can include the image capture device being independently arranged for the greens,
The image capture device that each greens shares can also be included simultaneously.
Wherein, image processing equipment can include one, be connected with each image capture device.
The greens image for the multiple images collecting device collection that each greens is independently arranged can set same greens
Mark, the greens mark of the greens image of the image capture device collection of different greens is different, so as to facilitate image procossing
Equipment identifies greens image corresponding to same greens.Greens mark can be used for distinguishing different greens.
Wherein, the greens image of each image capture device collection can set image identification, scheme so as to convenient
As processing equipment distinguishes the greens image of same image capture device collection.
In addition, as another embodiment, image processing equipment can prestore the equipment of different images collecting device
The corresponding relation of mark and greens mark, the corresponding relation that image processing equipment identifies according to the device identification and greens, really
The greens image of image capture device equipment collection corresponding to any one fixed greens.
During so as to get the greens image of any one image capture device collection, according to the equipment mark of image capture device
Know, greens corresponding to the greens image can be identified.According to the device identification of described image collecting device, can identify same
The greens image of individual image capture device collection.
Certainly, image processing equipment can also include multiple, and an image processing equipment is only corresponding more with a greens
Individual image capture device connection.
Beat the positional information that position all-in-one 103 is used to obtain the transmission of described image processing equipment 102；Believed according to the position
Breath carries out golf scoring.
Positional information is positional information of the golf falling sphere point in the greens, can carry the golf
The greens mark of greens where falling sphere point, so as to beat greens where position all-in-one can identify golf falling sphere point, Yi Ji
Positional information in the greens etc..
Make position all-in-one to can be also used for exporting appraisal result, due to the different circle of several diameters can be drawn in greens
Ring, each annulus can assign different fractions respectively.So as to beat the position that position all-in-one can send image processing equipment
Confidence ceases, and is converted to number of rings and drop point region, so as to obtain the fraction of corresponding number of rings.Making position all-in-one can be with root
According to number of rings and drop point region, the schematic diagram of output golf hit scoring ring etc..
Wherein, when image capture device corresponding to a greens includes multiple, image processing equipment can obtain more simultaneously
The greens image of individual image capture device collection, its greens image that any one image capture device can be selected to gather are known
Not, if unidentified golf be present in the greens image currently obtained, will the unidentified golf as new
The golf gone out by impact, and calculating location information.
If unidentified golf is not present in the greens image that any one described image capture device currently gathers,
The greens image that other image capture devices can be selected to gather is identified.
In addition, as another embodiment, image processing equipment can also adopt each image corresponding to a greens
The greens image of collection equipment collection is identified respectively, detects whether unidentified golf be present.Any one can be selected
The greens image of unidentified golf be present, calculate the positional information of falling sphere point.
The positional information of falling sphere point in the greens image that each has unidentified golf can certainly be calculated,
A positional information for meeting preparatory condition is sent to position all-in-one is made, the preparatory condition can be for example closest in greens
The positional information of the heart.
Image processing equipment detects whether unidentified golf be present, can be current by any one image capture device
Compared with the previous Zhang Guoling images that greens image and its of collection gather, detect whether to have differences a little, and it is poor existing
During dissimilarity, identify whether the discrepancy is golf.
In the prior art, the golf falling sphere dot position information that position all-in-one obtains is beaten, typically by radar tracking
What positioning was realized, accuracy can not ensure, and in the present embodiment, by setting the image capture device of T-ground, collection bag
The greens image of greens is included, greens image is identified by image processing equipment, golf can be whether there is with effective detection
Ball, and the falling sphere point of golf, so as to calculate the positional information for obtaining falling sphere point in greens, positional information is passed
Transport to and make position all-in-one, you can for scoring golf.Can fast and effective positioning height by image recognition
Golf ball, improve setting accuracy and location efficiency.
Wherein, the all-in-one set in position can be made using existing by making position all-in-one, by integrating scoring function, be made
The positional information of image processing equipment can be obtained by obtaining, and can carry out golf scoring according to positional information.Certainly, position is beaten
The part such as video camera of collection slance can also be integrated in all-in-one, beat position all-in-one can also according to user's request, if
Different exercise modes is put, golf appraisal result can be different in different exercise modes, and making position all-in-one can will be every
The golf appraisal result of acquisition of once batting is preserved, same as the prior art, is repeated no more.
Wherein, the positional information that image processing equipment calculates golf falling sphere point in the greens is specifically to count
The golf is calculated in the greens, the positional information of the falling sphere point at relatively described greens center.
In order to facilitate identification greens center, in the centrally disposed marker of greens, such as flagpole, flagpole top hangs flag, flag
Bar has certain altitude, such as 1.5 meters.
Wherein, position is beaten including multiple due to beating bit location, position all-in-one is made corresponding to golf in order to identify, can be adopted
With the golf of different colours, each beats the corresponding color of position all-in-one, and difference beats color corresponding to the all-in-one of position not
Together, it is only from the golf color for playing position impact for making position all-in-one and beats position all-in-one corresponding color.
Therefore, image processing equipment determines that making position all-in-one corresponding to the golf is specifically：
The golf color is identified, it is determined that corresponding with the golf color make position all-in-one.
Wherein, image processing equipment, which detects unidentified golf, can combine golf color and falling sphere point position
Put etc. and to realize.
As another embodiment, as shown in figure 3, can be set with the position all-in-one 103 of beating in Fig. 1 or Fig. 2 including calculating
Standby 201, radar module 202 and batting detection module 203.
The batting detection module 203 is used to detect whether golf is impacted；
The radar module 202 is used to track the golf, and the falling sphere point of the golf is determined
Position；Radar module 202 can be constantly in tracking mode.
The computing device 201 is used to be impacted in the batting detection module detection golf, in the golf
When ball in the preset time after impact, is not received the positional information of described image processing equipment transmission, the thunder is obtained
Carried out up to the radar fix information of the golf T-ground falling sphere point of module positioning, and according to the radar fix information
Golf scores；The transmission of described image processing equipment in the preset time after impact, is received in the golf
Positional information when, according to the positional information carry out golf scoring.
Computing device in the preset time after impact, is not received the transmission of described image processing equipment in golf
Positional information when, then can determine that golf is not fallen within greens, you can with pass through radar module obtain radar fix believe
Breath, to determine the falling sphere of golf point position, golf scoring is carried out using radar fix information.
As another embodiment, computing device can be the golf by impact after preset time in,
When receiving the positional information of the transmission of described image processing equipment 102, golf scoring is carried out according to the positional information；And
If the position of the transmission of described image processing equipment 102 is not received by the preset time after impact in the golf
When confidence ceases, then the appraisal result of golf can be directly determined, such as be scored at 0 or some default relatively low fraction
Deng.
Batting detection module 203 can be made up of sound inductor, optical inductor, shell mechanism etc.；To each of player
Secondary batting is sensed, and batting signal is sent to computing device, either normal still very bad batting of batting, is calculated
Equipment can obtain whether golf is impacted.
Radar module 202 tracks the golf, and to the falling sphere point of the golf position specifically may be used
To be tracking golf, and measure the falling sphere point after batting and falling sphere point and the batting deflection of radar module vertical direction
Angle.Radar module is positioned at beating position, it is hereby achieved that falling sphere point is apart from the relatively described position of beating of the distance and falling sphere point of beating position
Batting deflection angle, so as to which the distance is beaten into the distance of position and the relatively described batting deflection angle for beating position, be converted to corresponding
Number of rings, you can to obtain the scoring fraction of golf.
Computing device can also be Gao Er in the positional information for according to radar fix information, determining image processing equipment transmission
Greens where husband's ball falling sphere point, the positional information so as to be sent according to image processing equipment carry out golf scoring.
Wherein, due to annulus can be drawn centered on greens center, therefore, as a kind of possible implementation, figure
As processing equipment 102 calculates the positional information obtained, the positional information can be the polar coordinates in polar coordinate system, the polar coordinates with
The greens center is that to point to the ray for beating position in multiple centres beaten in position be pole axis for limit, limit.
As shown in Figure 4, falling sphere point B positional information can be expressed as polar diameter ρ and polar angle θ.Polar diameter ρ is that falling sphere point arrives
The distance at greens center, polar angle θ are clockwise angle between falling sphere point and the line and pole axis at greens center.
Pole axis is identified in order to facilitate image processing equipment, label symbol can be set in greens, can by image recognition
Pole axis position is obtained with identification, polar diameter ρ and polar angle θ corresponding to falling sphere point is obtained so as to calculate.
As another possible implementation, image processing equipment 102 calculates the positional information obtained, the positional information
Can be the coordinate points in rectangular coordinate system, rectangular coordinate system using greens center as origin, point to and beat bit location by greens center
It is Y-axis that position direction is beaten in centre, and the either direction of vertical Y axle is X-axis.
As shown in Figure 5, falling sphere point B positional information can be expressed as (X1, Y1).
Greens center can be by identifying that the marker in image determines.
Because radar fix information includes the batting deflection that falling sphere point distance beats the distance of position and falling sphere point beats position relatively
Angle.
Therefore unifiedly calculate for convenience, data can be carried out to unification.Making position all-in-one can be by radar fix information
Be converted to polar coordinates in polar coordinate system or the coordinate in rectangular coordinate system.
It is, of course, also possible to be that the positional information is converted to the conversion positional information in radar module respective coordinates system,
I.e. falling sphere point distance beats the distance and the relative batting deflection angle for beating position of falling sphere point of position, so as to specific reference to the conversion
Positional information carries out golf scoring.
The calculation of conversion position is exemplified below.
Assuming that one is beaten bit location and beats position including 5,3# beats position and beats position for centre, it is assumed that golf plays position impact from 1#
Go out.
In polar coordinate system, as shown in Figure 6, it is assumed that image processing equipment obtain falling sphere point B positional information for (ρ,
θ), the greens mark of greens where the positional information of the falling sphere point B and falling sphere point is sent and extremely makes position all-in-one.Beat position one
Body machine is changed falling sphere point B positional information, and conversion positional information includes falling sphere point distance and beats the distance Dx of position and fall
The relative batting deflection angle Ax for beating position of ball point.
Wherein, beat after greens where position all-in-one determines golf falling sphere point, it is known that D1 beats position for 1# and beats position to 3#
Distance；Da1 is that 1# beats position to the distance at greens center；Da3 is that 3# beats position to the distance at greens center；Aa1 be 1# beat position and
Direction of stroke angle, namely direction of stroke beat the angle of position vertical direction with 1#；(ρ, θ) is the falling sphere that image processing equipment provides
The polar coordinates of point.
Then understand that by Da1, ρ, and Dx triangle can be formed；
∠ β=(360- ∠ ρ)+Aa1；
Placement beats position distance with 1#：Dx2=ρ2+Da12- 2* ρ * Da1*COS (β), it can solve and obtain Dx；
Da1 and Dx angle ∠ γ：ρ2=Dx2+Da12- 2Dx*Da1*COS (γ), it can solve and obtain γ；
Then bat deflection angle Ax=Aa1+ γ.
Number of rings etc. can be reconverted into by conversion positional information by making position all-in-one, you can to carry out golf scoring.
In rectangular coordinate system, as shown in Figure 7, it is assumed that the falling sphere point B positional information that image processing equipment obtains is
(X1, Y1), in order to which falling sphere point B positional information is changed, conversion positional information includes the distance that falling sphere point distance beats position
The Dx and relative batting deflection angle Ax for beating position of falling sphere point.
It is known that D1, which is 1#, beats the distance that position beats position to 3#；
Da1 is that 1# beats position to the distance at greens center；
Da3 is that 3# beats position to the distance at greens center；
Aa1 is that 1# beats position and direction of stroke angle, namely the angle of position vertical direction is beaten with 1#；
(X1, Y1) is the polar coordinates for the falling sphere point that image processing equipment provides.
Then understand：
Falling sphere point B to 1# beats the Y-axis vertical range Yx=Da3-Y1 of position；
Falling sphere point B to 1# beats the X-axis lateral separation Xx=D1+X1 of position；
Xx, Yx, Dx form right angled triangle；
It can obtain, placement B and 1# beats position distance：Dx2=Xx2+Yx2, you can obtain Dx to solve
Bat deflection angle tan (Ax)=Xx/Yx；It can solve and obtain Ax.
Wherein, as another embodiment, when image capture device corresponding to a greens includes multiple；Image procossing is set
In the standby 102 identification greens image, detect whether that unidentified golf be present can be specifically：
The corresponding reference chart of greens image that any one image capture device corresponding to the greens is currently gathered
As being compared, detect whether golf be present；Wherein, the reference picture can be the greens figure for not including golf
Picture.
Wherein, reference picture can be specifically to make first greens image of any one described image capture device collection
For reference picture.
Certainly, in order to further improve recognition accuracy, low environmental impact drops, the reference picture can be any figure
As the greens image of previous of the greens image of the current collection of collecting device collection.
Therefore another embodiment is used as, image processing equipment 102 is identified in the greens image, detects whether exist not
The golf of identification can be specifically：
Previous that the greens image that any one image capture device corresponding to the greens currently gathers is gathered with it
Greens image is compared, and detects whether to have differences a little；
When detection has differences, identify whether the discrepancy is golf.
If the discrepancy is golf, as unidentified golf, is also newly gone out and fallen in greens by impact
In golf.
Because image capture device corresponding to a greens includes multiple, described when detection has golf, calculating
Golf positional information of falling sphere point in the greens can be：
The greens image for selecting any one unidentified golf to be present, calculate the golf and decline in the greens
The positional information of ball point.
From the greens image that unidentified golf according to each be present, the Gao Er of acquisition can certainly be calculated
Husband's ball selects any one positional information to send to making position all-in-one in the greens in the positional information of falling sphere point.
Wherein, as another embodiment, when detection has golf, the golf is calculated in the greens
The positional information of middle falling sphere point can be：
When detection has golf, calculate and select the minimum positional information of numerical value as the golf in institute
State the positional information of falling sphere point in greens.
Such as when falling sphere point B positional information can be expressed as in rectangular coordinate system (X1, Y1), it is assumed that including three
Image capture device, arrange as shown in fig. 1, including be arranged on the image capture device for beating position end and be arranged on greens both sides
Image capture device.
Image processing equipment can obtain three greens images, can obtain the coordinate of the falling sphere point of three golf.
Three groups of coordinates can be now compared, select one group of coordinate that X-axis numerical value is minimum or Y-axis is minimum as the golf
The positional information of ball falling sphere point in the greens.
Impact message can be sent when detection golf is impacted to image processing equipment by making position all-in-one.
Specifically computing device can be set when the batting detection module detection golf is impacted to image procossing
Preparation send impact message.
Image processing equipment is additionally operable to get any when beating the impact message that position all-in-one is sent, and triggers the figure
As collecting device collection greens image.So as to obtain the greens for being directed to the image capture device of any one greens and gathering
Greens image.
So as to first greens image gathering described image collecting device as reference picture, by receipt of subsequent
To greens image successively compared with reference picture, a greens image having differences a little is directly obtained, the discrepancy is
It can confirm that as golf.
Wherein, due to can beat position from multiple while batted, image processing equipment is according to discrepancy number, Ke Yijian
The golf that multiple unidentified different colours be present is surveyed, and can respectively calculate and obtain each unidentified golf
Falling sphere dot position information；According to golf color, the falling sphere dot position information of each golf is sent to corresponding face
Color makes position all-in-one.
By the embodiment of the present application, at least one image capture device is set for each greens in court, collection includes
The greens image of the greens, image processing equipment, can be effective by the way that the greens image of image capture device is identified
Detect whether golf be present, and the falling sphere point of golf, so as to calculate the position for obtaining falling sphere point in greens
Confidence is ceased, and the positional information is transmitted to position all-in-one is made, and golf ball position can be positioned by making position all-in-one, so as to use
Golf is scored in realizing.Registration can be improved with fast and effective positioning golf by image recognition
Degree and location efficiency.
A kind of flow chart of golf localization method one embodiment that Fig. 8 provides for the embodiment of the present application, the implementation
Example technical scheme can be applied particularly in the image processing equipment in golf positioner as shown in Figure 1 or 2.
This method can include following steps：
801：Obtain and T-ground is set, the greens for the greens that image capture device corresponding to any one greens gathers
Image.
Wherein it is possible to the greens image for the image capture device collection that T-ground is set is obtained in real time.
Can also be receive it is any beat and sent when position one machine testing golf is impacted impact message when, it is first
First triggering sets each image capture device collection greens image of T-ground, so as to obtain image capture device
The greens image of collection.
Image capture device can use the optical imageries such as common camera, high-speed camera, DV, camera
Equipment.Equipment has high magnification zoom function, has real-time data transmission function.By adjusting the parameters such as proper focal length so that
The greens image for obtaining and including greens can be gathered.
Image capture device can include it is multiple, so as to avoid an only image capture device due to the visitor such as blocking
The problem of reason does not collect golf is seen, ensures detection accuracy.
The installation site of image capture device can be set according to actual conditions, and need to guarantee collection acquisition includes greens
Greens image.
Wherein, in order to reduce wiring distance, court operation is not influenceed when equipment and repair apparatus are installed, image can be adopted
Collection equipment, which is respectively provided with, beats position end.
802：The greens image is identified, detects whether unidentified golf be present；If it is, perform step 803
If not, it can be continued executing with return to step 801.
803：Calculate the positional information of golf falling sphere point in the greens.
Wherein it is possible to the greens image specifically currently gathered compared with the previous Zhang Guoling images gathered, detects
With the presence or absence of discrepancy；
When detection has differences, identify whether the discrepancy is golf.
, therefore, may by identifying the greens image because different sportsmen may play position impact golf from multiple
Detect multiple unidentified golf.
Wherein, can be the greens image for gathering each image capture device when image capture device includes multiple
In, compared with the previous Zhang Guoling images each gathered, detect whether unidentified golf be present.
Then when detection has golf, calculating the golf, the positional information of falling sphere point can in the greens
To be：
The greens image for selecting any one unidentified golf to be present, calculate the golf and decline in the greens
The positional information of ball point.
The positional information can represent with polar coordinate representation or rectangular co-ordinate, specifically may refer to it is the above,
It will not be repeated here.
804：Determine to make position all-in-one corresponding to the golf.
Wherein, each is beaten position and sets a dozen all-in-ones.
Because different sportsmen may play position impact golf from multiple, there are multiple unidentified golf in detection
When, determine to make position all-in-one corresponding to golf for convenience.It is required that beat golf color that position impacts out not from difference
Together；
Therefore, it is described to determine that making position all-in-one corresponding to the golf be：
The golf color is identified, it is determined that corresponding with the golf color make position all-in-one.
805：The positional information is sent to described and makes position all-in-one, the position all-in-one of beating is used for according to the position
Information carries out golf scoring.
In the present embodiment, by being the image capture device of each greens setting in court, the fruit for including greens is gathered
Ridge image, greens image is identified by image processing equipment, golf, and Gao Er can be whether there is with effective detection
The falling sphere point of husband's ball, positional information of the falling sphere point in greens is obtained so as to calculate, positional information is transmitted to beating position one
Body machine, you can for scoring golf.The image quality of image capture device is not influenceed by environmental change, is passed through
Image recognition can fast and effective positioning golf, improve setting accuracy and location efficiency.
It is corresponding with embodiment illustrated in fig. 8, as shown in figure 9, present invention also provides a kind of place for realizing golf positioning
Device is managed, the processing unit can be set with concrete configuration in the image procossing in golf positioner as shown in Figure 1 or 2
In standby.
The processing unit can include：
Image acquisition unit 901, T-ground is set for obtaining, image capture device corresponding to any one greens gathers
The greens greens image；
First recognition unit 902, for identifying the greens image, detect whether golf be present；
Position calculation unit 903, for when detection has golf, calculating the golf in the greens
The positional information of falling sphere point；
Second recognition unit 904, for determining to make position all-in-one corresponding to the golf；Wherein, each beats position
A dozen all-in-ones are set；
Position transmitting element 905, position all-in-one is made for the positional information to be sent to described, it is described to make position all-in-one
For carrying out golf scoring according to the positional information.
Wherein, from the different golf color differences beaten position and impacted out；Second recognition unit can be known
Not described golf color, it is determined that corresponding with the golf color make position all-in-one.
Image capture device corresponding to any one greens can be including multiple, and the first recognition unit can be specifically will be any
Any of image capture device image capture device corresponding to individual greens currently gathers previous that greens image gathers with it
Greens image is compared, and detects whether to have differences a little；When detection has differences, identify whether the discrepancy is high
Golf ball.
Then the position calculation unit can be the greens image for selecting any one unidentified golf to be present, calculate institute
State the positional information of golf falling sphere point in the greens.
The device can also include trigger collection unit, be hit for receiving any position one machine testing golf of beating
During the impact message sent when beating, triggering is arranged on the image capture device collection greens image at greens center, and can trigger
Image acquisition unit obtains the greens image that image capture device corresponding to any one greens gathers.
By the embodiment of the present application, the greens image that is gathered using image capture device, realize golf identification with
And the positioning of falling sphere point, setting accuracy is improved, and the greens image currently obtained is compared using previous Zhang Guoling images
Compared with identifying golf, low environmental impact can be dropped so that positioning precision can be in 10cm (centimetre) rank, so as to improve
Golf setting accuracy and location efficiency, ensure the degree of accuracy of golf scoring.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
Some vocabulary has such as been used to censure specific components among specification and claim.Those skilled in the art should
It is understood that hardware manufacturer may call same component with different nouns.This specification and claims are not with name
The difference of title is used as the mode for distinguishing component, but is used as the criterion of differentiation with the difference of component functionally.Such as logical
The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit
In "." substantially " refer in receivable error range, those skilled in the art can be described within a certain error range solution
Technical problem, basically reach the technique effect.In addition, " coupling " one word is herein comprising any direct and indirect electric property coupling
Means.Therefore, if the first device of described in the text one is coupled to a second device, representing the first device can directly electrical coupling
The second device is connected to, or the second device is electrically coupled to indirectly by other devices or coupling means.Specification
Subsequent descriptions for implement the application better embodiment, so it is described description be for the purpose of the rule for illustrating the application,
It is not limited to scope of the present application.The protection domain of the application is worked as to be defined depending on appended claims institute defender.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of elements not only include those key elements, but also including without clear and definite
The other element listed, or also include for this commodity or the intrinsic key element of system.In the feelings not limited more
Under condition, the key element that is limited by sentence "including a ...", it is not excluded that in the commodity including the key element or system also
Other identical element be present.
Some preferred embodiments of the application have shown and described in described above, but as previously described, it should be understood that the application
Be not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations,
Modification and environment, and above-mentioned teaching or the technology or knowledge of association area can be passed through in application contemplated scope described herein
It is modified., then all should be in this Shen and the change and change that those skilled in the art are carried out do not depart from spirit and scope
Please be in the protection domain of appended claims.
Claims (10)
- A kind of 1. golf localization method, it is characterised in that including：Obtain and T-ground is set, the greens image for the greens that image capture device corresponding to any one greens gathers；Its In, multiple images collecting device is set in the court, and each greens corresponds at least one image capture device, for adopting Collect the greens image of the greens；The greens image is identified, detects whether unidentified golf be present；When detection has unidentified golf, the position letter of golf falling sphere point in the greens is calculated Breath；Determine to make position all-in-one corresponding to the golf；Wherein, each is beaten position and sets a dozen all-in-ones；The positional information is sent to described and makes position all-in-one, the position all-in-one of beating is used to be carried out according to the positional information Golf scores.
- 2. according to the method for claim 1, it is characterised in that each greens corresponds to multiple images collecting device；The identification greens image, detects whether that unidentified golf be present includes：The previous Zhang Guoling that the greens image that any one image capture device corresponding to the greens currently gathers is gathered with it Image is compared, and detects whether to have differences a little；When detection has differences, identify whether the discrepancy is golf.
- 3. according to the method for claim 1, it is characterised in that from the different golf color differences beaten position and impacted out；It is described to determine that making position all-in-one corresponding to the golf includes：The golf color is identified, it is determined that corresponding with the golf color make position all-in-one.
- 4. according to the method for claim 1, it is characterised in that methods described also includes：Receive it is any beat and sent when position one machine testing golf is impacted impact message when, triggering set T-ground Each image capture device collection greens greens image.
- A kind of 5. golf positioner, it is characterised in that the multiple images collecting device including setting T-ground, it is each Individual greens correspond at least one image capture device, for gathering the greens image of the greens；With described image collecting device The image processing equipment of connection；And be separately positioned on each beaten in bit location and beat position, connect with described image processing equipment What is connect multiple makes position all-in-one；Described image collecting device is used to gather the greens image for including greens；Described image processing equipment is used for the greens for obtaining the greens that image capture device corresponding to any one greens gathers Image；The greens image is identified, detects whether unidentified golf be present；When detection has golf, calculate The positional information of golf falling sphere point in the greens；Determine to make position all-in-one corresponding to the golf；Will The positional information sends to described and makes position all-in-one；It is described beat position all-in-one be used for obtain described image processing equipment transmission the golf in the greens falling sphere The positional information of point；Golf scoring is carried out according to the positional information.
- 6. device according to claim 5, it is characterised in that the position all-in-one of beating includes computing device, radar module And batting detection module；The batting detection module is used to detect whether golf is impacted；The radar module is used to track the golf, and positioning to the falling sphere point of the golf；The computing device is used to be impacted in the batting detection module detection golf, is impacted in the golf In preset time afterwards, when not receiving the positional information of described image processing equipment transmission, obtain the radar module and determine The radar fix information of the golf T-ground falling sphere point of position, and golf is carried out according to the radar fix information Scoring；The position letter of described image processing equipment transmission in the preset time after impact, is received in the golf During breath, golf scoring is carried out according to the positional information.
- 7. device according to claim 6, it is characterised in that the centrally disposed marker of greens；Described image processing When detection has golf, calculate golf positional information of falling sphere point in the greens is specifically equipment：When detection has unidentified golf, the golf is calculated in the greens, in relatively described greens The positional information of the falling sphere point of the heart；The computing device carries out golf scoring according to the positional information：The positional information is converted into the conversion positional information in the radar module corresponds to coordinates computed system, and according to institute State conversion positional information and carry out golf scoring.
- 8. device according to claim 5, it is characterised in that from the different golf color differences beaten position and impacted out； Described image processing equipment determines that making position all-in-one corresponding to the golf is specifically：The golf color is identified, it is determined that corresponding with the golf color make position all-in-one.
- 9. device according to claim 5, it is characterised in that each greens corresponds to multiple images collecting device；Described image processing equipment is identified in the greens image, detects whether that golf be present is specifically：The previous Zhang Guoling that the greens image that any one image capture device corresponding to the greens currently gathers is gathered with it Image is compared, and detects whether to have differences a little；When detection has differences, identify whether the discrepancy is golf Ball.
- 10. device according to claim 5, it is characterised in that the position all-in-one of beating is additionally operable to detect golf quilt During impact, impact message is sent to described image processing equipment；Described image processing equipment is additionally operable to get any when beating the impact message that position all-in-one is sent, and triggers the figure As collecting device collection greens image.
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| KR100932683B1 (en) * | 2008-10-29 | 2009-12-21 | (주) 이지트론 | Automatic real-time golf scoring apparatus |
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| KR100932683B1 (en) * | 2008-10-29 | 2009-12-21 | (주) 이지트론 | Automatic real-time golf scoring apparatus |
| US8442274B2 (en) * | 2010-01-28 | 2013-05-14 | Epic Think Media, Llc | Electronic golf assistant utilizing a plurality of images |
| JP2013527776A (en) * | 2010-04-01 | 2013-07-04 | ゴルフゾン カンパニー リミテッド | Video processing apparatus and video processing method for expressing green lie, and virtual golf simulation apparatus using the same |
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