CN111249717B - Blind person volleyball court based on visual information intelligent identification and location - Google Patents
Blind person volleyball court based on visual information intelligent identification and location Download PDFInfo
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- CN111249717B CN111249717B CN202010114658.0A CN202010114658A CN111249717B CN 111249717 B CN111249717 B CN 111249717B CN 202010114658 A CN202010114658 A CN 202010114658A CN 111249717 B CN111249717 B CN 111249717B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
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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
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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
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
Abstract
The invention discloses a blind volleyball court based on visual information intelligent identification and positioning, which comprises a volleyball track analysis system, a player positioning system and a voice broadcasting system, wherein the volleyball track analysis system consists of two high-speed cameras arranged right above and right at the side of the volleyball court, an FPGA controller completes track analysis and drop point position prediction of volleyball in a three-dimensional space according to shot volleyball images, the player positioning system consists of a high-speed camera arranged right above the volleyball court and a positioning helmet, the high-speed camera acquires a position area where a player is positioned, a gyroscope in the positioning helmet acquires the direction of the player, the voice broadcasting system is integrated in the positioning helmet, provides the volleyball track and the predicted drop point position for a wearer in real time, and is matched with a gyroscope sensor in the positioning helmet to perform voice broadcasting to adjust the hitting direction, the invention has accurate positioning and high intelligent degree, provides convenient field conditions for the blind volleyball sports.
Description
Technical Field
The invention relates to the technical field of broadcasting based on visual information and language, in particular to a blind volleyball court based on intelligent identification and positioning of visual information.
Background
Volleyball for the blind is specially designed for the blind, and the volleyball is provided with bells in normal conditions, so that the volleyball can give out crisp and pleasant ringing sound when flying or landing so as to facilitate volleyball movement for the blind. However, the judgment of the volleyball position only by hearing has great limitation, such as the player is easily influenced by environmental noise to generate misjudgment, and the like.
Research shows that 80% of information acquired by ordinary people comes from vision, so that aiming at the problems, the blind volleyball court design based on visual information and voice broadcast is provided, the volleyball movement track is acquired in real time by using the high-speed camera, and the visual information is transmitted to blind players in a voice broadcast mode, so that the judgment capability of the blind players can be effectively improved, and the entertainment of the volleyball movement of the blind players is enhanced.
Disclosure of Invention
The invention aims to provide a blind volleyball court based on intelligent identification and positioning of visual information, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a blind volleyball court based on intelligent visual information identification and positioning comprises a volleyball track analysis system, a player positioning system and a voice broadcasting system
The volleyball trajectory analysis system consists of two high-speed cameras arranged right above and right beside the volleyball court, and the FPGA controller completes trajectory analysis and drop point position prediction of volleyballs in a three-dimensional space according to shot volleyball images;
the football player positioning system consists of a high-speed camera and a positioning helmet which are arranged right above the volleyball court, wherein the high-speed camera acquires the position area of the volleyball court where the football player is located, and a gyroscope in the positioning helmet acquires the direction of the football player;
the voice broadcast system, the voice broadcast system integration provides volleyball orbit and prediction placement position in real time to the person of wearing in the location helmet to the gyroscope sensor in the cooperation location helmet carries out voice broadcast and adjusts the direction of hitting the ball.
Preferably, each half of the volleyball court is divided into 6 areas, 3 forecourt areas and 3 backcourt areas, 6 players are located in the areas, the initial poses face the net, the bodies are parallel to the net, the volleyball track analysis system provides predicted falling point positions of volleyballs, the volleyball court areas where the falling point positions are located are judged, players in the falling point areas are identified by the player positioning system, and the voice broadcasting system reminds the players in the corresponding falling point position areas to prepare for hitting balls in real time.
Preferably, two high-speed cameras directly over the volleyball court and directly to the side, FPGA controller and Wi-Fi chip, the high-speed camera directly over the volleyball court acquires volleyball motion's plane position information, the high-speed camera directly to the side of volleyball court acquires volleyball motion's altitude information, FPGA controller analysis camera shooting multiframe volleyball picture, approximate calculation volleyball three-dimensional space's speed and displacement to estimate out the expected drop point position of volleyball, discern the volleyball court subregion that the drop point position was located, FPGA controller sends drop point position information to the location helmet that the regional sportsman of drop point wore through Wi-Fi in the while, reminds the sportsman to make the preparation of batting by the voice broadcast system in the location helmet.
Preferably, STM32 microcontroller on the sportsman positioning system, the gyroscope sensor, Wi-Fi chip and speech synthesis chip, the gyroscope sensor acquires the present position gesture of sportsman and ensures that the sportsman is towards the volleyball all the time, volleyball orbit information and the placement position information that volleyball orbit analytic system sent are received to the Wi-Fi chip, the speech synthesis chip converts volleyball and sportsman's position gesture information into natural language and reports for the sportsman, STM32 microcontroller handles the position gesture information and the analysis of gyroscope, volleyball orbit and placement information that the Wi-Fi chip received, the location helmet still has the effect of protection blind person.
Preferably, the blind volleyball court based on visual information intelligent identification and positioning comprises the following working procedures:
A. two high-speed cameras arranged right above and right side of the volleyball court quickly shoot volleyball images;
B. the FPGA controller processes the image information, calculates the volleyball movement track and estimates the position of a drop point;
C. the volleyball track and the falling point position information are sent to the player through Wi-Fi, and the player is reminded of making preparations for hitting;
D. in order to reduce errors of a volleyball track and a drop point position, a high-speed camera shoots volleyball images in real time, the volleyball track is continuously adjusted, and players are timely informed when the drop point area changes;
E. the volleyball player continuously adjusts the batting direction according to volleyball track information and player direction information provided by the positioning helmet, and meanwhile, when the volleyball is close to the player, the position of the volleyball can be further judged through a bell arranged in the volleyball;
F. when the calculated falling point area is out of bounds, the voice broadcasting system reminds the player not to do any action; when the calculated falling point area is located in the back field, the players in the falling point area carry out the ball cushion, the players in the adjacent area complete the ball catching action, and when the falling point is located in the front field area, the players in the front field carry out the blocking action.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts two high-speed cameras to shoot volleyball images in a volleyball court for the blind, and utilizes the FPGA controller to process the images, analyze the motion trail of the volleyball and estimate the falling point position area of the volleyball;
(2) the invention adopts the high-speed camera and the gyroscope sensor to realize the positioning of the blind players;
(3) the invention adopts a voice broadcasting mode, transmits the motion track of volleyball and the position and posture information of the blind player to the blind player, and makes up the deficiency of the visual information of the blind player;
(4) the volleyball court is reasonably divided, body collision generated when a player hits balls is avoided, and meanwhile, the safety of volleyball sports for the blind is effectively improved as the player wears the positioning helmet.
Drawings
FIG. 1 is a front view of a volleyball court for the blind of the present invention;
FIG. 2 is a schematic diagram of the positions of a first high-speed camera, a second high-speed camera, a volleyball court and a positioning helmet according to the present invention;
FIG. 3 is a schematic view of a volleyball court zone for the blind according to the present invention;
FIG. 4 is a schematic diagram of the hardware structure of the positioning helmet of the present invention;
fig. 5 is a schematic view of the working process of the monitoring system of the present invention.
In the figure: 1. a high-speed camera I; 2. a second high-speed camera; 3. a volleyball field; 4. positioning a helmet; 5. an FPGA controller; 6. a Wi-Fi chip; 7. STM32 single chip microcomputer controller; 8. a gyroscope sensor; 9. a speech synthesis chip; 10. and a Wi-Fi chip.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a blind volleyball court based on intelligent visual information identification and positioning comprises a volleyball track analysis system, a player positioning system and a voice broadcasting system.
The volleyball trajectory analysis system comprises two high-speed cameras arranged right above and on the side of a volleyball court, the FPGA controller completes trajectory analysis and falling point position prediction of volleyball in a three-dimensional space according to shot volleyball images, each half of the volleyball court is divided into 6 areas, 3 forecourt areas and 3 backcourt areas, 6 players are located in the respective areas, initial poses face a ball net and are parallel to the ball net, the volleyball trajectory analysis system provides predicted falling point positions of the volleyball and judges the division of the volleyball court where the falling point positions are located, the player positioning systems identify players in the falling point division, and the voice broadcasting systems remind players in the corresponding falling point position areas to prepare for batting in real time.
The volleyball positioning system comprises a high-speed camera and a positioning helmet which are arranged right above a volleyball court, wherein the high-speed camera acquires the position area of the volleyball court, a gyroscope in the positioning helmet acquires the direction of the volleyball, two high-speed cameras right above and right beside the volleyball court, an FPGA controller and a Wi-Fi chip, the high-speed camera right above the volleyball court acquires the plane position information of volleyball movement, the high-speed camera right beside the volleyball court acquires the height information of the volleyball movement, the FPGA controller analyzes multi-frame volleyball pictures shot by the cameras, approximately calculates the speed and displacement of a three-dimensional space of the volleyball, estimates the expected falling point position of the volleyball, and identifies the subarea of the volleyball court where the falling point position is located, meanwhile, the FPGA controller sends the falling point position information to a positioning helmet worn by a player in a falling point area through Wi-Fi, and a voice broadcasting system in the positioning helmet reminds the player to prepare for hitting.
The voice broadcast system integration is in the location helmet, provide volleyball orbit and prediction placement position in real time to the person of wearing, and the gyro sensor in the cooperation location helmet carries out voice broadcast and adjusts the batting direction, STM32 single chip microcomputer controller on the sportsman positioning system, the gyro sensor, Wi-Fi chip and speech synthesis chip, the gyro sensor acquires the present position gesture of sportsman and ensures that the sportsman faces volleyball all the time, the volleyball orbit information and the placement position information that volleyball orbit analytic system sent are received to the Wi-Fi chip, the speech synthesis chip converts volleyball and sportsman's position gesture information into natural language and reports to the sportsman, the position gesture information and the analysis of gyroscope are handled to STM32 single chip microcomputer controller, the location helmet still has the effect of protection blind sportsman.
The process of analyzing the volleyball trajectory and estimating the position of the volleyball drop point by the FPGA controller 5 is as follows:
selecting four volleyball pictures continuously shot by a first high-speed camera 1 and a second high-speed camera 2, wherein the first picture is the initial position (X) in the volleyball flying process0,Y0,Z0) The flight equation of the volleyball is
In the 2 nd frame volleyball picture, the spatial position of volleyball is:
in the 3 rd frame volleyball picture, the spatial position of volleyball is:
in the 4 th volleyball picture, the spatial position of volleyball is:
wherein Xi,Yi,ZiDt is the time interval between every frame of picture, and g is the acceleration of gravity. Through perspective transformationThe spatial position and the image position relation is as follows:
X＝x/(1-Z/h)
Y＝y/(1-Z/h)
wherein, x and y are image coordinates, and h is the distance from the camera to the shooting point.
Considering X, the Z plane is expressed using image coordinates:
the flying speed of volleyball can be solved according to the formula, and the Y and Z planes can be selected to be calculated in the same way.
Solving the flight time of the volleyball, decomposing the flight time into volleyball rise time and volleyball fall time, firstly solving the rise time, wherein the speed of the volleyball rising to the highest point is 0:
0＝Vz-gtup
the height of the volleyball at this time is:
Zp＝Vz*tup-0.5gtup 2+Z0
calculating the falling time of volleyball, i.e. the flight distance in Z direction is Zp：
0.5gtdown 2＝Zp
The flight time of the volleyball is the rise time plus the fall time:
te＝tup+tdown
therefore, the flying distance of the volleyball in the plane direction can be calculated, namely, the falling point position of the volleyball can be predicted:
Xg＝X0+Vx*te
Yg＝Y0+Vy*te
sportsman positioning system comprises high-speed camera 1 and location helmet 4, the position area in volleyball court is located to camera 1 discernment sportsman, location helmet discernment sportsman's front orientation, and remind sportsman adjustment batting direction according to the difference of batting point, the location helmet is by STM32 microcontroller 6, gyroscope sensor 8, speech synthesis chip 9 and Wi-Fi chip 10 are constituteed, volleyball orbit and the drop point positional information that volleyball orbit analytic system sent are received to Wi-Fi chip 10, handle the back through STM32 microcontroller 6 and report volleyball information for the sportsman by the speech synthesis chip, sportsman's orientation is discerned to gyroscope sensor 8 simultaneously, and remind sportsman adjustment batting direction through the speech broadcast.
A blind volleyball court based on visual information intelligent identification and positioning comprises the following work flows:
A. two high-speed cameras arranged right above and right side of the volleyball court quickly shoot volleyball images;
B. the FPGA controller processes the image information, calculates the volleyball movement track and estimates the position of a drop point;
C. the volleyball track and the falling point position information are sent to the player through Wi-Fi, and the player is reminded of making preparations for hitting;
D. in order to reduce errors of a volleyball track and a drop point position, a high-speed camera shoots volleyball images in real time, the volleyball track is continuously adjusted, and players are timely informed when the drop point area changes;
E. the volleyball player continuously adjusts the batting direction according to volleyball track information and player direction information provided by the positioning helmet, and meanwhile, when the volleyball is close to the player, the position of the volleyball can be further judged through a bell arranged in the volleyball;
F. when the calculated falling point area is out of bounds, the voice broadcasting system reminds the player not to do any action; when the calculated falling point area is located in the back field, the players in the falling point area carry out the ball cushion, the players in the adjacent area complete the ball catching action, and when the falling point is located in the front field area, the players in the front field carry out the blocking action.
The invention adopts two high-speed cameras to shoot the images of volleyballs in a volleyball court for the blind, utilizes the FPGA controller to process the images, analyzes the motion trail of the volleyballs and estimates the falling point position area of the volleyball, adopts the high-speed cameras and the gyroscope sensor to realize the positioning of the blind players, adopts the voice broadcasting mode, and transmits the motion trail of the volleyball and the position and posture information of the blind players to the blind players, thereby making up the deficiency of the visual information of the blind players.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a blind person volleyball court based on visual information intelligent identification and location, includes volleyball orbit analytic system, sportsman positioning system, voice broadcast system, its characterized in that: the above-mentioned
The volleyball trajectory analysis system consists of two high-speed cameras arranged right above and right beside the volleyball court, and the FPGA controller completes trajectory analysis and drop point position prediction of volleyballs in a three-dimensional space according to shot volleyball images;
the process of analyzing the volleyball trajectory and estimating the position of the volleyball drop point by the FPGA controller 5 is as follows:
selecting four volleyball pictures continuously shot by a first high-speed camera 1 and a second high-speed camera 2, wherein the first picture is the initial position (X) in the volleyball flying process0,Y0,Z0) The flight equation of the volleyball is
In the 2 nd frame volleyball picture, the spatial position of volleyball is:
in the 3 rd frame volleyball picture, the spatial position of volleyball is:
in the 4 th volleyball picture, the spatial position of volleyball is:
wherein Xi,Yi,ZiDt is the time interval between every two frames of pictures and g is the gravity acceleration; the relation between the spatial position and the image position after perspective transformation is as follows:
X＝x/(1-Z/h)
Y＝y/(1-Z/h)
wherein x and y are image coordinates, and h is the distance from the camera to the shooting point;
considering X, the Z plane is expressed using image coordinates:
the flight speed of the volleyball can be solved according to the formula, and the Y plane and the Z plane can be selected to be calculated in the same way;
solving the flight time of the volleyball, decomposing the flight time into volleyball rise time and volleyball fall time, firstly solving the rise time, wherein the speed of the volleyball rising to the highest point is 0:
0＝Vz-gtup
the height of the volleyball at this time is:
Zp＝Vz*tup-0.5gtup 2+Z0
calculating the falling time of volleyball, i.e. the flight distance in Z direction is Zp：
0.5gtdown 2＝Zp
The flight time of the volleyball is the rise time plus the fall time:
te＝tup+tdown
therefore, the flying distance of the volleyball in the plane direction can be calculated, namely, the falling point position of the volleyball can be predicted:
Xg＝X0+Vx*te
Yg＝Y0+Vy*te
the football player positioning system consists of a high-speed camera and a positioning helmet which are arranged right above the volleyball court, wherein the high-speed camera acquires the position area of the volleyball court where the football player is located, and a gyroscope in the positioning helmet acquires the direction of the football player;
the voice broadcasting system is integrated in the positioning helmet, provides a volleyball track and a predicted drop point position for a wearer in real time, and is matched with a gyroscope sensor in the positioning helmet to perform voice broadcasting so as to adjust the hitting direction;
each half of the volleyball court is divided into 6 areas, 3 front areas and 3 back areas, 6 players are located in the respective areas, initial poses face to a net, the bodies of the players are parallel to the net, a volleyball trajectory analysis system provides predicted falling point positions of volleyballs, the volleyball court areas where the falling point positions are located are judged, player positioning systems identify the players in the falling point areas, and a voice broadcasting system reminds the players in the corresponding falling point position areas to prepare for hitting balls in real time;
two high-speed cameras directly over the volleyball court and directly to the side, FPGA controller and Wi-Fi chip, the high-speed camera directly over the volleyball court acquires volleyball motion's plane positional information, the high-speed camera directly to the side of volleyball court acquires volleyball motion's altitude information, FPGA controller analysis camera's multiframe volleyball picture of shooing, approximate speed and the displacement of calculating volleyball three-dimensional space to estimate out the expected placement position of volleyball, discernment placement subregion that the placement position was located, during the FPGA controller sends placement positional information to the location helmet that regional sportsman of placement wore through Wi-Fi, remind the sportsman to make the preparation of batting by the voice broadcast system in the location helmet.
2. The blind volleyball court based on intelligent identification and positioning of visual information as claimed in claim 1, wherein: STM32 single chip microcomputer controller on the sportsman positioning system, the gyroscope sensor, Wi-Fi chip and speech synthesis chip, the gyroscope sensor acquires the present position gesture of sportsman and ensures that the sportsman is towards the volleyball all the time, volleyball orbit information and the placement position information that volleyball orbit analytic system sent are received to the Wi-Fi chip, the speech synthesis chip converts volleyball and sportsman's position gesture information into natural language and reports for the sportsman, STM32 single chip microcomputer controller handles the position gesture information and the analysis of gyroscope, volleyball orbit and placement information that the Wi-Fi chip received, the location helmet still has the effect of protection sportsman.
3. The blind volleyball court based on intelligent identification and positioning of visual information, which is realized according to claim 1, has a workflow comprising the following steps:
A. two high-speed cameras arranged right above and right side of the volleyball court quickly shoot volleyball images;
B. the FPGA controller processes the image information, calculates the volleyball movement track and estimates the position of a drop point;
C. the volleyball track and the falling point position information are sent to the player through Wi-Fi, and the player is reminded of making preparations for hitting;
D. in order to reduce errors of a volleyball track and a drop point position, a high-speed camera shoots volleyball images in real time, the volleyball track is continuously adjusted, and players are timely informed when the drop point area changes;
E. the volleyball player continuously adjusts the batting direction according to volleyball track information and player direction information provided by the positioning helmet, and meanwhile, when the volleyball is close to the player, the position of the volleyball can be further judged through a bell arranged in the volleyball;
F. when the calculated falling point area is out of bounds, the voice broadcasting system reminds the player not to do any action; when the calculated falling point area is located in the back field, the players in the falling point area carry out the ball cushion, the players in the adjacent area complete the ball catching action, and when the falling point is located in the front field area, the players in the front field carry out the blocking action.
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| US20070238557A1 (en) * | 2006-04-05 | 2007-10-11 | Namat Lavasani Saidi | Sound guided football/basketball game for blind people |
| US8866599B2 (en) * | 2008-10-24 | 2014-10-21 | International Business Machines Corporation | Method of activating a supplemental visual warning signal based on frequency emitted from a generator of a primary audible warning signal |
| CN203029959U (en) * | 2012-12-24 | 2013-07-03 | 刘排 | Basketball court for the blind |
| CN107823865B (en) * | 2017-10-31 | 2019-06-28 | 华邱枫 | Blind person's basketball field system is broadcasted based on vision positioning combined of multi-sensor information |
| CN108421237A (en) * | 2018-03-31 | 2018-08-21 | 成都云门金兰科技有限公司 | Golf drop point forecasting system based on image recognition |
| US11000752B2 (en) * | 2018-05-30 | 2021-05-11 | Hockey Tech Systems, Llc | Collision avoidance apparatus |
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