CN110390693A - A kind of control method, control device and terminal device - Google Patents
A kind of control method, control device and terminal device Download PDFInfo
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- CN110390693A CN110390693A CN201910577667.0A CN201910577667A CN110390693A CN 110390693 A CN110390693 A CN 110390693A CN 201910577667 A CN201910577667 A CN 201910577667A CN 110390693 A CN110390693 A CN 110390693A
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000000903 blocking effect Effects 0.000 claims abstract description 41
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 20
- 238000003860 storage Methods 0.000 claims description 16
- 238000013507 mapping Methods 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 8
- 238000001914 filtration Methods 0.000 description 7
- 238000010295 mobile communication Methods 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
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- 238000005096 rolling process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
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Classifications
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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
- A63B69/00—Training appliances or apparatus for special sports
-
- 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
- A63B71/0616—Means for conducting or scheduling competition, league, tournaments or rankings
-
- G06T5/70—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
- A63B2102/24—Ice hockey
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30221—Sports video; Sports image
- G06T2207/30224—Ball; Puck
Abstract
The present invention is suitable for control technology field, provides a kind of control method, control device and terminal device, the control method, comprising: obtains to be processed image of at least two frames about objective plane by camera, includes target object in the image to be processed；The image to be processed described at least two frames pre-processes, and obtains at least two frame images to be recognized；According at least two frame images to be recognized, target object is obtained in the mobile message of the objective plane；According to the mobile message, estimate the specified region of the target object and the objective plane estimate intersection point and the target object reaches the estimated time in the specified region；Intersection point and the estimated time are estimated according to described, control blocking module is moved, so that estimating intersection point described in blocking module arrival intercepts the target object.By the invention it is possible to meet demand of the people to efficiently interesting interacting activity, user experience is promoted.
Description
Technical field
The invention belongs to control technology field more particularly to a kind of control methods, control device and terminal device.
Background technique
With the improvement of living standards, demand of the people to colourful recreation is also higher and higher.And inventor
It is higher to place and personnel requirement it was found that various ball equal amusements generally require more people and participate in, therefore, it is desirable to can be with
Efficiently interesting interacting activity is provided, to promote user experience.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of control method, control device and terminal device, to meet people
Demand to efficiently interesting interacting activity promotes user experience.
The first aspect of the embodiment of the present invention provides a kind of control method, comprising:
To be processed image of at least two frames about objective plane is obtained by camera, includes mesh in the image to be processed
Mark object；
The image to be processed described at least two frames pre-processes, and obtains at least two frame images to be recognized；
According at least two frame images to be recognized, target object is obtained in the mobile message of the objective plane；
According to the mobile message, estimate the specified region of the target object and the objective plane estimate intersection point and
The target object reaches the estimated time in the specified region；
Intersection point and the estimated time are estimated according to described, control blocking module is moved, so that the interception mould
Block estimates the intersection point interception target object described in reaching.
The second aspect of the embodiment of the present invention provides a kind of control device, comprising:
Photographing module, it is described wait locate for obtaining to be processed image of at least two frames about objective plane by camera
Managing includes target object in image；
First processing module is pre-processed for the image to be processed described at least two frames, is obtained at least two frames and is waited knowing
Other image；
Second processing module, for it is flat in the target to obtain target object according at least two frame images to be recognized
The mobile message in face；
Module is estimated, for estimating the specified area of the target object Yu the objective plane according to the mobile message
Domain estimate intersection point and the target object reaches the estimated time in the specified region；
Control module, for estimating intersection point and the estimated time according to, control blocking module is moved, so that
It obtains and estimates the intersection point interception target object described in the blocking module arrival.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
The step of realizing method as described above.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has the step of computer program, the computer program realizes method as described above when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the embodiment of the present invention, passing through camera
To be processed image of at least two frames about objective plane is obtained, includes target object in the image to be processed；To at least two frames
The image to be processed is pre-processed, and at least two frame images to be recognized are obtained；According at least two frame images to be recognized, obtain
Target object is obtained in the mobile message of the objective plane；According to the mobile message, the target object and the mesh are estimated
Mark plane specified region estimate intersection point and the target object reaches the estimated time in the specified region；According to described pre-
Estimate intersection point and the estimated time, control blocking module is moved, so that estimating intersection point described in blocking module arrival
Intercept the target object.The embodiment of the present invention can by least two frame images to be recognized, obtain it is ball etc. can be in mesh
Mark mobile message of the target object in the objective plane of sliding on planes or rolling, thus estimate the target object with
The intersection point in the specified region on the objective plane and the time for reaching the intersection point, to be blocked to the target object
It cuts, is interacted at this point, user can be realized by pushing the target object with the blocking module, therefore, the present invention is real
Interactive entertainment activity can be provided for user by applying example, have stronger interest, better user experience, practicability and ease for use
It is relatively strong.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram for the control method that the embodiment of the present invention one provides；
Fig. 2 is the implementation process schematic diagram of control method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of set-up mode of the camera provided by Embodiment 2 of the present invention；
Fig. 4 is the schematic diagram for the control device that the embodiment of the present invention three provides；
Fig. 5 is the schematic diagram for the terminal device that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is the implementation process schematic diagram for the control method that the embodiment of the present invention one provides.
In the embodiment of the present invention, the control method can be realized by the inclusion of the terminal device of message processing module,
Message processing module in the terminal device may include one or more modules, for example, may include one or more CPU
And one or more GPU, the set-up mode of the message processing module can there are many, for example, may include single-chip microcontroller.This
Outside, the message processing module can also respectively with camera and mechanical arm, motor, mechanical module (such as blocking module)
Other equipment or module coupling ground connection.For example, can (such as Bluetooth communication, Wi-Fi be logical by cable network, wireless network
Letter, 3rd generation mobile communication technology (the 3rd Generation mobile communication technology, 3G),
Fourth generation mobile communication technology (the 4th Generation mobile communication technology, 4G) or
5th third-generation mobile communication technology (the 5th Generation mobile communication technology, 5G) net
Network) etc. be communicatively coupled, so as to obtain image data, and control motor drive machinery arm or other machines can be passed through
Tool module.It is set it should be noted that the camera and mechanical arm, mechanical module etc. other equipment can be the terminal
Standby a part, can also be used as external equipment, at this point, the external equipment can be external in the terminal device.
The control method as shown in Figure 1 may comprise steps of:
Step S101 obtains to be processed image of at least two frames about objective plane, the figure to be processed by camera
It include target object as in.
In the embodiment of the present invention, the objective plane can be configured according to practical application scene.Illustratively, described
Objective plane may include horizontal table top, and the horizontal table top can have boundary, and the target object can be placed on described
It in horizontal table top, and can be moved in the horizontal table top, such as sliding or rolling.Certainly, the objective plane
It may be other planes, for example, the objective plane can be not on horizontal plane, and have certain tilt angle etc.
Deng.
Illustratively, the target object can be ice hockey, billiard ball, slidable block objects etc..The object
Body can move on the objective plane, such as roll or slide.In actual scene, can be user by directly or
Indirect mode is to the target object applied force, so that the target object moves on the objective plane.
The camera can be used for acquiring the image of specific region.Illustratively, the camera can be fixed in advance
In designated position, at this point, shooting area corresponding to the image that the camera collects can determine.
In the embodiment of the present invention, the interval of the acquisition time of each image to be processed can be according to the target object
Actual motion situation, the information such as the performance of moving region size and the camera preset, be not limited thereto.
Optionally, the objective plane is preset level desktop, and the target object is can be in the preset level table
The object moved on face.
Corresponding boundary has can be set in the horizontal table top, to limit the moving range of the target object.
Step S102, the image to be processed described at least two frames pre-process, and obtain at least two frame images to be recognized.
It is described to pre-process the accuracy that can be used for being promoted subsequent image recognition in the embodiment of the present invention.For example, described
Pretreatment may include noise filtering, gray proces, image enhancement processing etc..
Optionally, the image to be processed described at least two frames pre-processes, comprising:
Gray proces are carried out to each image to be processed respectively, and are made an uproar to the image to be processed after gray proces
Point filtering, obtains the images to be recognized.
In the embodiment of the present invention, the noise filtering can be realized in several ways, illustratively, can be by pre-
If the methods of filter (such as median filtering) handles the image to be processed.In addition, in some embodiments,
The gray proces and noise filtering can be not limited to the processing of the image to be processed, and can also include other processing.
Step S103 obtains target object in the movement of the objective plane according at least two frame images to be recognized
Information.
In the embodiment of the present invention, the object in each images to be recognized can be identified respectively by the methods of edge detection
The coordinate of body, and the coordinate according to the target object in each images to be recognized are converted to the target object in institute
State the position on objective plane.For example, profile of the target object respectively in each images to be recognized can be extracted
Information, and according to the profile information, calculate separately characteristic point coordinate of the target object in the images to be recognized.This
Outside, it can also identify the target object in the images to be recognized respectively by modes such as neural networks, and obtain the target
The coordinate of object.Illustratively, the neural network may include VggNet, GoogLeNet, ResNet etc..
The mobile message may include one of information such as movement velocity, acceleration, the direction of motion, motion path or
It is a variety of.
In the embodiment of the present invention, at least two frame images to be recognized in the different acquisition time are arrived due to available, because
This, it is available to the target object in the different acquisition time, the corresponding coordinate in images to be recognized, then convert to obtain
Position of the target object on the objective plane, so that the target object is described according in the different acquisition time
Position on objective plane obtains the mobile message of the target object.For example, for the quilt being placed on the objective plane
The ice hockey of user's force, can calculate the ice hockey described according to ice hockey coordinate corresponding to two acquisition times
The direction of motion, movement velocity on objective plane etc. mobile message.
Step S104 estimates the specified region of the target object and the objective plane according to the mobile message
It estimates intersection point and the target object reaches the estimated time in the specified region.
In the embodiment of the present invention, the specified region can be developer or user is pre-set.For example, if exploitation
An edge line is arranged in the side of the possible zone of action of the target object in person, and it is expected to intercept the target object, makes
Another side region of the edge line cannot be entered by preset zone of action by obtaining the target object, then, the specified area
Domain can be another side region of the edge line.
Illustratively, for be placed on the objective plane by user exert a force ice hockey, can be according to the movement
The movement velocity of the ice hockey in information, the direction of motion etc. information estimate estimating for the ice hockey and preset edge line
Intersection point and the football reach the estimated time of the edge line.
Step S105 estimates intersection point and the estimated time according to described, and control blocking module is moved, so that institute
It states and estimates the intersection point interception target object described in blocking module arrival.
In the embodiment of the present invention, it can be moved by blocking module described in motor driven.The blocking module can be with
Different components is used according to practical application scene, for example, the blocking module may include mechanical arm, baffle, hand-type component
Or component of other forms etc..In addition, on the blocking module can also include specific mechanical structure, be used for so that
The subsequent motion of the target object more meets the demand of user, for example, can the blocking module be arranged storage pocket or
Storage basket, so that falling into the storage pocket or storage basket after the target object is intercepted by the blocking module, facilitating use
The subsequent storage at family；Alternatively, caching component can be arranged on the blocking module, so that the target object is blocked by described
After cutting block intercepts, the speed of rebound, which reduces, not to rebound even.Certainly, in some other application scenarios, the blocking module
It also may include the component etc. for increasing ball rebound velocity.The specific set-up mode of the blocking module can be carried out according to user demand
Setting.
Optionally, the blocking module includes baffle, includes cushion on the baffle.
In the embodiment of the present invention, the material of the baffle and area etc. are herein with no restrictions.Illustratively, the gear
Cushion on plate can be made of the material of the porous structures such as sponge.By the cushion, the object can be made
After body is intercepted by the blocking module, the speed of rebound, which reduces, not to rebound even, consequently facilitating the subsequent processing of user.
A kind of specific embodiment of the present embodiment in concrete application scene is illustrated with a specific example below.
In the embodiment of the present invention, the target object can be ice hockey, and the objective plane, which can be, is set to a certain put down
A desktop on platform.The desktop may include frame, with the zone of action for limiting the ice hockey.User can pass through
Ad hoc fashion (such as passing through specific push rod or hand, foot) releases the ice hockey, and ice hockey is moved up in the desktop
It is dynamic.At this point, being acquired at predetermined intervals by the camera for being set to specific position above the desktop about the table
At least two frames image to be processed in face, and gray proces and noise filtering are done to the image to be processed, images to be recognized is obtained,
So that mobile message of the ice hockey on the desktop is obtained, to judge the ice hockey by least two frame images to be recognized
When the interception region of the desktop other side is reached.At this point, the blocking module can intercept the ice hockey, so as to so that
User can make repeated attempts and release the ice hockey to entertain or train etc..And this exemplary equipment dismounting letter
Single, convenient for safeguarding, user experience is friendly, and the speed of service is fast, can be used in the scenes such as various commercial exhibitions and market.
The embodiment of the present invention can be by least two frame images to be recognized, and obtain ball etc. can slide on objective plane
Dynamic or rolling target object is put down to estimate the target object with the target in the mobile message of the objective plane
The intersection point in the specified region on face and the time for reaching the intersection point, to be intercepted to the target object, at this point, user
It can be realized by pushing the target object and to be interacted with the blocking module, therefore, the embodiment of the present invention can be to use
Family provides interactive entertainment activity, has stronger interest, better user experience, practicability and ease for use are stronger.
On the basis of the above embodiments, Fig. 2 is the method for Router machine people control provided by Embodiment 2 of the present invention
Implementation process schematic diagram, this method as shown in Figure 2 may comprise steps of:
Step S201 obtains to be processed image of at least two frames about objective plane, the figure to be processed by camera
It include target object as in, shooting area corresponding to each image to be processed is identical.
It, can be described to be processed to acquire by setting fixed position for the camera in advance in the embodiment of the present invention
Image, so that shooting area corresponding to each image to be processed is identical.At this point it is possible to make each wait locate
It is mutually unified to manage coordinate system corresponding to image, is convenient for subsequent image procossing.
Step S202, the image to be processed described at least two frames pre-process, and obtain at least two frame images to be recognized.
Step S203 determines that the mapping between the image coordinate system and objective plane coordinate system in the image to be processed is closed
System.
It, can be according to the acquisition parameters, the camera and the objective plane of the camera in the embodiment of the present invention
Relative positional relationship etc. determine that stating the mapping between the image coordinate system in image to be processed and objective plane coordinate system closes
System.
Illustratively, with a specific example illustrate to determine the image coordinate system and target in the image to be processed below
A kind of illustrative embodiments of mapping relations between plane coordinate system.
As shown in figure 3, being a kind of set-up mode of the camera.Wherein, the rectangle frame is the target object
Moving region.At this point it is possible to projection Oc of the camera optical centre on the objective plane for the objective plane
The origin of coordinate system, at this point, according to the distance H of the upright projection of the optical centre of the camera to the objective plane, institute
The lateral pixel quantity Sx of image to be processed, the lateral pixel quantity Sy of the image to be processed, the camera is stated to clap
Longitudinal reflected light when maximum value α, the camera shooting of longitudinal reflected light path and the angle of the objective plane when taking the photograph
Lateral reflected light path and the objective plane when minimum value β and the camera of the angle of road and the objective plane are shot
Angle maximum value γ, can establish reflecting between image coordinate system and objective plane coordinate system in the image to be processed
Relationship is penetrated, at this point it is possible to can determine the picture according to the mapping relations for any pixel in the image to be processed
Position of the element in the objective plane coordinate system.
Step S204 identifies first coordinate of the target object in each images to be recognized.
In the embodiment of the present invention, first coordinate is the first seat in the image coordinate system in the images to be recognized
Mark.Illustratively, first coordinate can be coordinate of the central point of the target object in each images to be recognized, this
Outside, first coordinate is also possible to other characteristic points of the target object (such as the target object is along moving direction
Front end etc.) coordinate, it is not limited here.
Step S205, according to the mapping relations between described image coordinate system and objective plane coordinate system, by described first
Coordinate transformation obtains second coordinate of the target object in the objective plane coordinate system.
Second coordinate can indicate the target object respectively in the acquisition time of the image to be processed, described
Position in objective plane.
Step S206, according to the target object second coordinate corresponding to each images to be recognized and each institute
Timestamp corresponding to image to be processed is stated, obtains target object in the mobile message of the objective plane.
In the embodiment of the present invention, the timestamp can indicate the acquisition time of each image to be processed.
Step S207 estimates the specified region of the target object and the objective plane according to the mobile message
It estimates intersection point and the target object reaches the estimated time in the specified region.
Step S208 estimates intersection point and the estimated time according to described, and control blocking module is moved, so that institute
It states and estimates the intersection point interception target object described in blocking module arrival.
The present embodiment step S202, S207, S208 are same or similar with above-mentioned steps S102, S104, S105 respectively, specifically
It can be found in step S102, S104, S105 associated description, details are not described herein.
In the embodiment of the present invention, shooting area corresponding to each image to be processed is identical, can make it is each to
It is mutually unified to handle coordinate system corresponding to image, is convenient for subsequent image procossing；And by determining in the image to be processed
Image coordinate system and objective plane coordinate system between mapping relations, can be according to the seat of the target object in the picture
Mark, obtains coordinate of the target object on objective plane, so as to relatively accurately predict institute according to less data
The information such as movement velocity, the direction of motion of target object are stated, to intercept to the target object.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 4 is the schematic diagram for the control device that the embodiment of the present invention three provides.For ease of description, it illustrates only and this hair
The relevant part of bright embodiment.
The control device 400 includes:
Photographing module 401, for obtaining to be processed image of at least two frames about objective plane by camera, it is described to
Handling includes target object in image；
First processing module 402 is pre-processed for the image to be processed described at least two frames, is obtained at least two frames and is waited for
Identify image；
Second processing module 403, for obtaining target object in the target according at least two frame images to be recognized
The mobile message of plane；
Module 404 is estimated, for according to the mobile message, estimating the specified of the target object and the objective plane
Region estimate intersection point and the target object reaches the estimated time in the specified region；
Control module 405, for estimating intersection point and the estimated time according to, control blocking module is moved,
So that estimating intersection point described in the blocking module arrival intercepts the target object.
Optionally, the first processing module 402 is specifically used for:
Gray proces are carried out to each image to be processed respectively, and are made an uproar to the image to be processed after gray proces
Point filtering, obtains the images to be recognized.
Optionally, the objective plane is preset level desktop, and the target object is can be in the preset level table
The object moved on face.
Optionally, the blocking module includes baffle, includes cushion on the baffle.
Optionally, shooting area corresponding to each image to be processed is identical；
Correspondingly, the control device 400 further include:
Determining module, for determining reflecting between image coordinate system and objective plane coordinate system in the image to be processed
Penetrate relationship；
The Second processing module 403 specifically includes:
Recognition unit, for identification first coordinate of the target object in each images to be recognized；
Computing unit will be described for according to the mapping relations between described image coordinate system and objective plane coordinate system
First coordinate transformation obtains second coordinate of the target object in the objective plane coordinate system；
Processing unit, for according to the target object second coordinate corresponding to each images to be recognized and respectively
Timestamp corresponding to a image to be processed obtains target object in the mobile message of the objective plane.
The embodiment of the present invention can be by least two frame images to be recognized, and obtain ball etc. can slide on objective plane
Dynamic or rolling target object is put down to estimate the target object with the target in the mobile message of the objective plane
The intersection point in the specified region on face and the time for reaching the intersection point, to be intercepted to the target object, at this point, user
It can be realized by pushing the target object and to be interacted with the blocking module, therefore, the embodiment of the present invention can be to use
Family provides interactive entertainment activity, has stronger interest, better user experience, practicability and ease for use are stronger.
Fig. 5 is the schematic diagram for the terminal device that the embodiment of the present invention four provides.As shown in figure 5, the terminal of the embodiment is set
Standby 5 include: processor 50, memory 51 and are stored in the meter that can be run in the memory 51 and on the processor 50
Calculation machine program 52.The terminal device can also include camera and/or blocking module, the camera and/or blocking module
It is connect respectively with processor coupling.In addition, to can also be used as external equipment external for the camera and/or blocking module
In terminal device, the connection type and communication mode of the camera and/or blocking module and the processor can bases
Practical application scene is configured, herein with no restrictions.
The processor 50 realizes the step in above-mentioned each control method embodiment when executing the computer program 52,
Such as step 101 shown in FIG. 1 is to 105.Alternatively, the processor 50 realizes above-mentioned each dress when executing the computer program 52
Set the function of each module/unit in embodiment, such as the function of module 401 to 405 shown in Fig. 4.
Illustratively, the computer program 52 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 51, and are executed by the processor 50, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 52 in the terminal device 5 is described.For example, the computer program 52 can be divided
It is cut into photographing module, first processing module, Second processing module, estimates module, control module, each module concrete function is as follows:
Photographing module, it is described wait locate for obtaining to be processed image of at least two frames about objective plane by camera
Managing includes target object in image；
First processing module is pre-processed for the image to be processed described at least two frames, is obtained at least two frames and is waited knowing
Other image；
Second processing module, for it is flat in the target to obtain target object according at least two frame images to be recognized
The mobile message in face；
Module is estimated, for estimating the specified area of the target object Yu the objective plane according to the mobile message
Domain estimate intersection point and the target object reaches the estimated time in the specified region；
Control module, for estimating intersection point and the estimated time according to, control blocking module is moved, so that
It obtains and estimates the intersection point interception target object described in the blocking module arrival.
The terminal device 5 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 50, memory 51.It will be understood by those skilled in the art that Fig. 5
The only example of terminal device 5 does not constitute the restriction to terminal device 5, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 50 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 51 can be the internal storage unit of the terminal device 5, such as the hard disk or interior of terminal device 5
It deposits.The memory 51 is also possible to the External memory equipment of the terminal device 5, such as be equipped on the terminal device 5
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 51 can also both include the storage inside list of the terminal device 5
Member also includes External memory equipment.The memory 51 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 51 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of control method characterized by comprising
To be processed image of at least two frames about objective plane is obtained by camera, includes object in the image to be processed
Body；
The image to be processed described at least two frames pre-processes, and obtains at least two frame images to be recognized；
According at least two frame images to be recognized, target object is obtained in the mobile message of the objective plane；
According to the mobile message, that estimates the target object and the specified region of the objective plane estimates intersection point and described
Target object reaches the estimated time in the specified region；
Intersection point and the estimated time are estimated according to described, control blocking module is moved, so that the blocking module arrives
The target object is intercepted up to the intersection point of estimating.
2. control method as described in claim 1, which is characterized in that the image to be processed described at least two frames carries out pre-
Processing, comprising:
Gray proces are carried out to each image to be processed respectively, and noise mistake is carried out to the image to be processed after gray proces
Filter, obtains the images to be recognized.
3. control method as described in claim 1, which is characterized in that the objective plane is preset level desktop, the mesh
Marking object is the object that can be moved on the preset level desktop.
4. control method as described in claim 1, which is characterized in that the blocking module includes baffle, is wrapped on the baffle
Include cushion.
5. the control method as described in Claims 1-4 any one, which is characterized in that each image institute to be processed is right
The shooting area answered is identical；
Correspondingly, obtaining target object in the mobile message of the objective plane according at least two frame images to be recognized
Before, further includes:
Determine the mapping relations between the image coordinate system and objective plane coordinate system in the image to be processed；
At least two frame images to be recognized according to obtain target object in the mobile message of the objective plane, comprising:
Identify first coordinate of the target object in each images to be recognized；
According to the mapping relations between described image coordinate system and objective plane coordinate system, first coordinate transformation is obtained into institute
State second coordinate of the target object in the objective plane coordinate system；
According to the target object second coordinate corresponding to each images to be recognized and each image to be processed
Corresponding timestamp obtains target object in the mobile message of the objective plane.
6. a kind of control device characterized by comprising
Photographing module, for obtaining to be processed image of at least two frames about objective plane, the figure to be processed by camera
It include target object as in；
First processing module is pre-processed for the image to be processed described at least two frames, obtains at least two frames figure to be identified
Picture；
Second processing module, for obtaining target object in the objective plane according at least two frame images to be recognized
Mobile message；
Module is estimated, for estimating the specified region of the target object and the objective plane according to the mobile message
It estimates intersection point and the target object reaches the estimated time in the specified region；
Control module, for estimating intersection point and the estimated time according to, control blocking module is moved, so that institute
It states and estimates the intersection point interception target object described in blocking module arrival.
7. control device as claimed in claim 6, which is characterized in that the first processing module is specifically used for:
Gray proces are carried out to each image to be processed respectively, and noise mistake is carried out to the image to be processed after gray proces
Filter, obtains the images to be recognized.
8. control device as claimed in claims 6 or 7, which is characterized in that shooting corresponding to each image to be processed
Region is identical；
Correspondingly, the control device further include:
Determining module, for determining that the mapping between image coordinate system and objective plane coordinate system in the image to be processed is closed
System；
The Second processing module specifically includes:
Recognition unit, for identification first coordinate of the target object in each images to be recognized；
Computing unit, for according to the mapping relations between described image coordinate system and objective plane coordinate system, by described first
Coordinate transformation obtains second coordinate of the target object in the objective plane coordinate system；
Processing unit, for according to the target object second coordinate corresponding to each images to be recognized and each institute
Timestamp corresponding to image to be processed is stated, obtains target object in the mobile message of the objective plane.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of any one control method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is as described in any one of claim 1 to 5 the step of control method when the computer program is executed by processor.
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