CN115120950A - Training auxiliary system, projection method and device thereof, and computer readable storage medium - Google Patents
Training auxiliary system, projection method and device thereof, and computer readable storage medium Download PDFInfo
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Abstract
The application is applicable to the technical field of projection, and particularly relates to a training auxiliary system, a projection method and device thereof, and a computer readable storage medium. The method comprises the steps of projecting a mark point to a training platform through a projector, obtaining the mark point through a first camera, determining position information of the mark point under a first camera coordinate system, determining the position relation of the projection coordinate system and the first camera coordinate system by combining the position information of the mark point under the projection coordinate system and the relative position relation of the projector and the first camera, obtaining a moving track of a target object on the training platform relative to the training platform through the first camera, converting the moving track into the moving track under the projection coordinate system, and projecting the moving track to the training platform through the projector, so that projection of the moving track of the target object on the training platform is realized, the material of the platform surface of the training platform is not changed, the influence on the movement of the target object is small, and the training effect is improved.
Description
Technical Field
The application belongs to the technical field of projection, and particularly relates to a training auxiliary system, a projection method and device thereof, and a computer readable storage medium.
Background
The table tennis table is required to be used as a training table during table tennis training, and at present, information can be displayed on the training table or table tennis falling point and track information can be displayed on the training table in order to enable the training process to be more visual. The existing training table needs to be additionally provided with an additional display or a sensor on the table top so as to realize display or point detection. However, the additional display or sensor is made of a different material than the table top of the training table, which may affect the bounce height of the table tennis ball and further affect the training effect.
Disclosure of Invention
In view of this, embodiments of the present application provide a training assistance system, a projection method and apparatus thereof, and a computer readable storage medium, so as to solve the problem that the training effect is affected by adding a display or a sensor on a training table in the prior art.
In a first aspect, an embodiment of the present application provides a projection method of a training assistance system, where the training assistance system includes a projector and a first camera, the first camera and the projector are installed at a position higher than a training table and are disposed toward a table top of the training table, the first camera is used to acquire an image of the table top, and the projector is used to project onto the table top of the training table, and the projection method includes:
under the condition that the projector projects preset mark points to the tabletop, determining first position information of the mark points in a first camera coordinate system of the first camera;
determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, second position information of the mark point in the projection coordinate system of the projector and a relative position relation between the projector and the first camera;
acquiring a first moving track of a target object on the training table relative to the training table under the first camera coordinate system;
and converting the first moving track into a second moving track under the projection coordinate system according to the target position relation, and projecting the second moving track to the table top.
In a second aspect, an embodiment of the present application provides a projection apparatus of a training assistance system, the training assistance system includes a projector and a first camera, the first camera and the projector are installed at a position higher than a training table and face a table top of the training table, the first camera is used for collecting an image of the table top, the projector is used for projecting to the table top of the training table, the projection apparatus includes:
the position information determining module is used for determining first position information of the mark points under a first camera coordinate system of the first camera under the condition that the projector projects preset mark points to the tabletop;
the position relation determining module is used for determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, second position information of the mark point in the projection coordinate system of the projector and a relative position relation between the projector and the first camera;
the track acquisition module is used for acquiring a first moving track of a target object on the training table relative to the training table under the first camera coordinate system;
and the track projection module is used for converting the first moving track into a second moving track in the projection coordinate system according to the target position relation and projecting the second moving track to the table top.
In a third aspect, an embodiment of the present application provides a training assistance system, where the training assistance system includes a projector and a first camera, the first camera and the projector are installed at a position higher than a training table and are disposed toward a table top of the training table, the first camera is used to acquire an image of the table top, the projector is used to project an image onto the table top of the training table, the training assistance system further includes a projection device, and the projection device includes:
the position information determining module is used for determining first position information of the mark points under a first camera coordinate system of the first camera under the condition that the projector projects preset mark points to the tabletop;
the position relation determining module is used for determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, second position information of the mark point in the projection coordinate system of the projector and a relative position relation between the projector and the first camera;
the track acquisition module is used for acquiring a first moving track of a target object on the training table relative to the training table under the first camera coordinate system;
and the track projection module is used for converting the first moving track into a second moving track under the projection coordinate system according to the target position relation and projecting the second moving track to the table top.
In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the projection method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the projection method according to the first aspect is implemented.
In a sixth aspect, embodiments of the present application provide a computer program product, which, when run on a training assistance system, causes the training assistance system to perform the projection method according to the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: according to the method, the mark point is projected to the training platform through the projector, the mark point is obtained through the first camera, so that the position information of the mark point under the first camera coordinate system is determined, the position relation of the projection coordinate system and the first camera coordinate system is determined by combining the position information of the mark point under the projection coordinate system and the relative position relation of the projector and the first camera, the movement track of the target object on the training platform relative to the training platform is obtained through the first camera, the movement track is converted into the movement track under the projection coordinate system, the movement track is projected to the training platform through the projector, the projection of the movement track of the target object on the training platform is achieved, the material of the platform surface of the training platform is not changed, the influence on the movement of the target object is small, and the training effect is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a projection method of a training assistance system according to a first embodiment of the present application;
fig. 2 is a schematic flowchart of a projection method of a training assistance system according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a projection apparatus of a training assistance system according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of a training assistance system provided in the fourth embodiment of the present application
Fig. 5 is a schematic structural diagram of a terminal device according to a fifth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The projection method of the training auxiliary system provided by the embodiment of the application can be applied to terminal equipment of the training auxiliary system, the terminal equipment is not limited to a palm computer, a desktop computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a cloud server, a Personal Digital Assistant (PDA) and the like, and the specific type of the terminal equipment is not limited in the embodiment of the application.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
Referring to fig. 1, a schematic flowchart of a projection method of a training assistance system provided in an embodiment of the present application is shown, where the training assistance system includes a projector and a first camera, the first camera and the projector are installed at a position higher than a training table and are disposed toward a table top of the training table, the first camera is used for collecting an image of the table top, and the projector is used for projecting onto the table top. The first camera and the projector may be directed toward the playing surface, meaning that the lens of the first camera is directed toward the playing surface, and the lens of the projector is directed toward the playing surface.
The projection method is operated in a terminal device of a training assistance system, the terminal device is connected with a projector and a first camera to realize the projection method, as shown in fig. 1, the projection method may include the following steps:
step S101, in a case where the projector projects a preset mark point to the stage, determining first position information of the mark point under a first camera coordinate system of the first camera.
The mark point may be a figure having a preset shape, and the projector may project the mark point to a position corresponding to a coordinate of the mark point in a projector coordinate system. The number of the preset mark points may be one or more, which is not limited in this application.
When the projector projects to the table top, the condition that the focal plane of the projector is overlapped with the table top needs to be met, so that the focal plane of the projector is overlapped with the table top in an automatic focusing mode before the projector projects the mark points to the table top. The automatic focusing process may be that the first camera acquires an image of the table top, a first distance between the table top and a lens of the first camera in the image is identified, the first distance is converted into a second distance between the lens of the projector and the table top by combining a relative position relationship between the projector and the first camera, and finally the projector is controlled to automatically focus according to the second distance.
After the mark points are projected, the mark points appear on the table top, the first camera is used for collecting images of the table top, and first position information of the mark points in the images under a first camera coordinate system can be determined through recognition of the images. For example, the first camera is a depth camera, and the image acquired by the first camera is an image with depth information, and the spatial position of the marker point in the image in the depth camera coordinate system can be determined by identifying the image, which can be represented as (x, y, z). The terminal equipment is connected with the first camera, the terminal equipment projects the mark points and then sends an image acquisition instruction to the first camera, and the first camera acquires images of the table top of the training table after receiving the image acquisition instruction. The first camera can send image information to the terminal device, the terminal device identifies the image to determine first position information, and the first camera can further identify the image to determine the first position information and send the first position information to the terminal device.
The second position information of the mark point in the projection coordinate system may refer to coordinates of the mark point in the projection coordinate system, and the projector projects the mark point according to the second position information. For example, in a projection coordinate system of the projector, with a focal point of the projector on a table as an origin O, a central optical axis of the projector as a Z-axis, and an X-axis and a Y-axis on the table, if coordinates of a preset mark point are (X is 1, Y is 1, and Z is 0), the mark point is projected at a position which is 1 apart from the focal point in the X-axis direction and 1 apart from the focal point in the Y-axis direction.
And the terminal equipment sends a mark point projection instruction to the projector, and the projector projects the mark point to the table top according to the second position information. In one embodiment, the second location information may be stored in the terminal device. In one embodiment, the second position information may be stored in a projector, and the projector sends the second position information to the terminal device after acquiring the mark point projection instruction sent by the terminal device.
And S102, determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, the second position information of the mark point in the projection coordinate system of the projector and the relative position relation between the projector and the first camera.
The relative position relationship between the projector and the first camera can be obtained through manual calibration after the projector and the first camera are installed. For example, the relative positional relationship is used to represent the difference between the first coordinate origin and the second coordinate origin in the world coordinate system, that is, the distance in the horizontal direction and the distance in the vertical direction, with the outermost lens center point of the projector (i.e., the lens closest to the table) as the first coordinate origin and the outermost lens center point of the first camera as the second coordinate origin. The first position information is the coordinates of the mark point in the first camera coordinate system, and the second position information is the coordinates of the mark point in the projection coordinate system, and the coordinates of the mark point in the world coordinate system are unique. Therefore, based on the relative positional relationship, the target positional relationship of the projection coordinate system and the first camera coordinate system can be determined. The target position relationship may refer to a transformation matrix transformed from the projection coordinate system to the first camera coordinate system, or a transformation matrix transformed from the first camera coordinate system to the projection coordinate system.
Step S103, acquiring a first movement track of the target object on the training table relative to the training table under the first camera coordinate system.
The target object may refer to an object moving on or above a table. For example, where the training table is a table tennis table, the target object may be a table tennis ball. The first moving track may refer to a moving path of the target object on the training table, and may include a falling point of the target object on the training table, that is, a position of the target object when contacting the table top, the first camera acquires continuous images on the training table, identifies each image, and determines positions of the target object and the training table in the corresponding image. The first camera can recognize the collected continuous images to obtain a first moving track, and the first moving track is sent to the terminal device.
Optionally, the acquiring a first moving track of the target object on the training table relative to the training table includes:
acquiring the position of a training platform and the position change information of a target object on the training platform;
and determining a first movement track of the target object relative to the training table according to the position of the training table and the position change information of the target object.
The training platform is fixed, and the position of the training platform can be determined by identifying any image in the images acquired by the first camera. The position change information of the target object may be a change of coordinates of the target object with time, the coordinates of the target object in each image are identified with time of the continuous images acquired by the first camera as an axis, and the continuous change of the coordinates with time is the first moving track.
And step S104, converting the first moving track into a second moving track in a projection coordinate system according to the target position relation, and projecting the second moving track to the table top.
The converting the first movement track into a second movement track in the projection coordinate system may be to combine the first movement track in the first camera coordinate system with the target position relationship to obtain the second movement track. Specifically, each coordinate of the target object in the first camera coordinate system may be transformed into a coordinate in the projection coordinate system, and the position of the training table in the first camera coordinate system may be transformed into a position in the projection coordinate system. Because the position of the training table under the projection coordinate system is fixed, the continuous change of the transformed coordinates along with time is the second moving track. For example, the target position relationship is a transformation matrix transformed from the first camera coordinate system to the projection coordinate system, and a coordinate obtained by cross-multiplying the coordinate of the first camera coordinate system and the transformation matrix is a coordinate in the projection coordinate system.
After the second moving track is determined, the terminal device sends a track projection instruction and the second moving track to the projector, and after the projector receives the track projection instruction and the second moving track, the projector forms a preset image under the coordinate of the projector and projects the preset image to the table board. For example, the preset image is a white line.
Optionally, transforming the first movement track into a second movement track in the projection coordinate system according to the target position relationship includes:
determining the position of the training platform under the projection coordinate system and the position change information of the target object under the projection coordinate system according to the target position relation;
and determining a second movement track in the projection coordinate system according to the position of the training table in the projection coordinate system and the position change information of the target object in the projection coordinate system.
The first movement track may include information about a position of the training stage and a position change of the target object in the first camera coordinate system, that is, information about a change over time of coordinates of the training stage and coordinates of the target object in the first camera coordinate system. For example, the training table is square, and the position of the training table in the first camera coordinate system may refer to the coordinates of the four corners of the training table. According to the target position relation, the position of the training platform in the first camera coordinate system and the position change information of the target object are transformed, so that the position of the training platform in the projection coordinate system and the position change information of the target object in the projection coordinate system can be determined. And because the position of the training platform under the projection coordinate system is unchanged, the continuous change of the target object under the projection coordinate system along with time is the second moving track.
According to the embodiment of the application, the mark point is projected to the training platform through the projector, the mark point is acquired through the first camera, so that the position information of the mark point under the first camera coordinate system is determined, the position relation between the projection coordinate system and the first camera coordinate system is determined by combining the position information of the mark point under the projection coordinate system and the relative position relation between the projector and the first camera, the movement track of the target object on the training platform relative to the training platform is acquired through the first camera, the movement track is converted into the movement track under the projection coordinate system, the movement track is projected to the training platform through the projector, the projection of the movement track of the target object on the training platform is achieved, the material of the platform surface of the training platform is not changed, the influence on the movement of the target object is small, and the training effect is improved.
Referring to fig. 2, a flowchart of a projection method of a training assistance system provided in the second embodiment of the present application is shown, where the projection method may be used in a terminal device of the training assistance system, and as shown in fig. 2, the projection method may include the following steps:
in step S201, in a case where the projector projects a preset mark point to the top, first position information of the mark point under a first camera coordinate system of the first camera is determined.
Step S202, determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, the second position information of the mark point in the projection coordinate system of the projector and the relative position relation between the projector and the first camera.
Step S203, acquiring a first movement track of the target object on the training platform relative to the training platform in the first camera coordinate system.
The contents of steps S201 to S203 are the same as those of steps S101 to S103, and reference may be made to the description of steps S101 to S103, which is not repeated herein.
And S204, judging whether the falling point of the target object is on the training platform or not according to the first moving track.
As can be seen from the above embodiments, the first movement path includes the position of the training platform and the position change information of the target object. The first camera of the application is a depth camera, and the coordinates in the position and position change information acquired by the depth camera are space coordinates, so that when a target object contacts the table top in the range of the training table, the target object is determined to have a falling point on the training table, and the range of the training table can be a range limited by the table top. For example, if the range defined by the table top is (1,10) in the x direction, is (1,5) in the y direction, and the vertical distance from the origin of the first camera coordinate system to the table top is 2, and if the component of the position of the target object in the direction perpendicular to the training table is detected to be 2, the component of the position of the target object in the x direction is within (1,10), and the component in the y direction is within (1,5), the target object is considered to be in contact with the table top within the range of the training table.
Step S205, if the target object is located on the training platform, the target object is transformed into a projection point in the projection coordinate system according to the target position relationship, and the projection point is projected onto the table top in a first preset pattern.
In the process of judging whether the falling point of the target object is on the training platform or not, the coordinate corresponding to the falling point of the target object in the first camera coordinate system is determined, and the coordinate system transformation can be carried out by combining the target position relation. For example, the target position relationship is a transformation matrix transformed from the first camera coordinate system to the projection coordinate system, and a coordinate obtained by cross-multiplying a coordinate corresponding to a drop point of the target object in the first camera coordinate system by the transformation matrix is a coordinate of a projection point in the projection coordinate system.
And step S206, converting the first moving track into a second moving track in the projection coordinate system according to the target position relation, and projecting the second moving track to the table top.
The content of step S206 is the same as that of step S104, and reference may be made to the description of step S104, which is not described herein again.
Optionally, after acquiring the first moving track of the target object on the training table relative to the training table, the method further includes:
determining a first height difference between a target object and the table top at a target position of the training table according to the first moving track, wherein a partition is arranged at the target position;
acquiring a second height difference between the partition and the table top;
determining a third height difference between the target object and the partition according to the first height difference and the second height difference;
projecting the third height difference to the table top.
Wherein, a partition is arranged at the target position of the training platform and is higher than the platform surface. For example, the training table is a table tennis table and the partition is a net. The first height difference may be a vertical distance between the target object and the table top when the target object passes through the target position, and the second height difference may be a height of the partition higher than the training table, so that the vertical distance between the target object and the partition when the target object passes through the partition at the target position is the third height difference. For example, the training table is a table tennis table, the partition is a net, the target object is a table tennis, the third height difference is the net passing height of the table tennis, and the net passing height is projected to the table top of the table tennis table, so that a player can visually know the moving track of the table tennis.
Optionally, the training assistance system further includes a second camera, the second camera is installed at a position higher than the training table and is disposed toward the training table, and the projection method further includes:
acquiring speed information of a target object acquired by a second camera;
the velocity information is projected onto the tabletop.
The second camera may be a height camera capable of detecting information such as a speed and a rotation speed of the fast moving object, and the speed information may include the speed and the rotation speed. The second camera is arranged higher than the table top, and can acquire images of the target object on the training table, so that the speed information of the target object is determined through image recognition.
The training auxiliary system can also comprise at least one somatosensory camera, the somatosensory camera is used for collecting the motion posture of the human body, and the installation of the at least one somatosensory camera is higher than the table top. For example, when the training table is a table tennis table, in order to obtain the postures of the players on both sides of the short side of the table tennis table, two motion sensing cameras need to be arranged, the two motion sensing cameras face a first side and a second side of the short side of the table tennis table respectively, and the first side is the opposite side of the second side. The athlete motion recognition, extraction and analysis can be used for the subsequent personalized analysis of the athlete.
Optionally, in the case of performing target training by using the training assistance system, the projection method further includes:
projecting a second preset pattern corresponding to the target training to the table top;
correspondingly, after acquiring the first movement track of the target object on the training platform relative to the training platform, the method further comprises the following steps:
judging whether the falling point of the target object is in a second preset pattern or not according to the first moving track to obtain a judgment result;
and projecting the judgment result to the table board.
The training auxiliary system can be used for providing various training modes so as to achieve targeted training. For example, the fixed point training may be that the projector projects one preset pattern onto the table top, and the random point training may be that the projector projects a plurality of preset patterns onto the table top at random.
By analyzing the moving track of the target object, it can be determined whether the falling point of the target object falls within the projected second preset pattern, so as to obtain a determination result, which may be a statistical result of the number of times that the falling point of the target object falls within the projected second preset pattern within a certain time.
The embodiment of the application can determine the position of the falling point of the target object according to the first moving track, and when the falling point of the target object is on the training platform, the position of the falling point is changed into the projection point under the coordinates of the projector, and the preset pattern is projected at the position corresponding to the projection point, so that the projection of the falling point of the target object is realized, and the position of the falling point of the target object can be visually observed.
The projection method of the training assistance system corresponding to the above embodiment is applied to a terminal device of the training assistance system, the training assistance system includes a projector and a first camera, the first camera and the projector are installed at a position higher than the training table and are disposed toward the tabletop, the first camera is used for acquiring an image of the tabletop, the projector is used for projecting onto the tabletop, fig. 3 shows a structural block diagram of a projection device of the training assistance system provided in the third embodiment of the present application, and for convenience of description, only a part related to the embodiment of the present application is shown.
Referring to fig. 3, the projection apparatus includes:
a position information determining module 31, configured to determine first position information of a mark point in a first camera coordinate system of the first camera when the projector projects a preset mark point onto the tabletop;
the position relation determining module 32 is configured to determine a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, the second position information of the mark point in the projection coordinate system of the projector, and a relative position relation between the projector and the first camera;
the track acquisition module 33 is configured to acquire a first moving track of the target object on the training table relative to the training table in the first camera coordinate system;
and the track projection module 34 is used for converting the first moving track into a second moving track under the projection coordinate system according to the target position relation and projecting the second moving track to the table top.
Optionally, the trajectory acquisition module 33 includes:
the position acquisition unit is used for acquiring the position of the training table and the position change information of the target object on the training table;
and the first track determining unit is used for determining a first moving track of the target object relative to the training table according to the position of the training table and the position change information of the target object.
Optionally, the trajectory projection module 34 includes:
the position determining unit is used for determining the position of the training platform under the projection coordinate system and the position change information of the target object under the projection coordinate system according to the target position relation;
and the second track determining unit is used for determining a second moving track in the projection coordinate system according to the position of the training table in the projection coordinate system and the position change information of the target object in the projection coordinate system.
Optionally, the projection apparatus further includes:
the first falling point judging module is used for judging whether the falling point of the target object is on the training platform or not according to the first moving track;
and the drop point projection module is used for converting the drop point of the target object into a projection point under a projection coordinate system according to the target position relation and projecting the projection point to the table top in a first preset pattern if the drop point of the target object is on the training table.
Optionally, the projection apparatus further includes:
the first height determining module is used for determining a first height difference between a target object and the table top at a target position of the training table according to the first moving track, and a partition is arranged at the target position;
the second height acquisition module is used for acquiring a second height difference between the partition and the table top;
the third height determining module is used for determining a third height difference between the target object and the partition according to the first height difference and the second height difference;
and the height difference projection module is used for projecting the third height difference to the table top.
Optionally, the training auxiliary system further includes a second camera, the second camera is installed at a position higher than the training table and is disposed toward the training table, and the projection apparatus further includes:
the speed acquisition module is used for acquiring the speed information of the target object acquired by the second camera;
and the speed projection module is used for projecting the speed information to the table top.
Optionally, in the case of performing target training by using the training assistance system, the projection apparatus further includes:
the pattern projection module is used for projecting a second preset pattern corresponding to the target training to the table top;
accordingly, after acquiring the first moving track of the target object on the training stage relative to the training stage, the projection apparatus further includes:
the second falling point judging module is used for judging whether the falling point of the target object is in a second preset pattern or not according to the first moving track to obtain a judging result;
and the result projection module is used for projecting the judgment result to the table top.
It should be noted that, because the contents of information interaction, execution process, and the like between the modules are based on the same concept as that of the embodiment of the method of the present application, specific functions and technical effects thereof may be specifically referred to a part of the embodiment of the method, and details are not described here.
Fig. 4 is a schematic structural diagram of a training assistance system according to a fourth embodiment of the present application. As shown in fig. 4, the training auxiliary system includes a projector 41 and a first camera 42, the first camera 42 and the projector 41 are installed at a position higher than the training table and are disposed toward the table top, the first camera 42 is used for collecting an image of the table top, the projector 41 is used for projecting toward the table top, the training auxiliary system further includes a projection device 43, wherein the projection device 43 is connected to the projector 41 and the first camera 42, and specific contents of the projection device 43 may refer to the projection device of the training auxiliary system of the above embodiment, which is not described again.
Fig. 5 is a schematic structural diagram of a terminal device according to a fifth embodiment of the present application. As shown in fig. 5, the terminal device 5 of this embodiment includes: at least one processor 50 (only one shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, the steps in any of the various embodiments of the projection method of the training assistance system described above being implemented by the processor 50 when the computer program 52 is executed.
The terminal device may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is only an example of the terminal device 5, and does not constitute a limitation to the terminal device 5, and may include more or less components than those shown, or combine some components, or different components, such as an input-output device, a network access device, and the like.
The Processor 50 may be a CPU, and the Processor 50 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may in some embodiments be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may be an external storage device of the terminal device 5 in other embodiments, such as a plug-in hard disk provided on the terminal device 5, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 51 may also include both an internal storage unit of the terminal device 5 and an external storage device. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code, recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution media. Such as a usb-drive, a removable hard drive, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
When the computer program product runs on the terminal device, the steps in the method embodiments can be implemented when the terminal device executes the computer program product.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described apparatus/terminal device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one type of logic function, and another division manner may be provided in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A projection method of a training assistance system, the training assistance system including a projector and a first camera, the first camera and the projector being mounted at a position higher than a training table and being disposed toward a table top of the training table, the first camera being for capturing an image of the table top, the projector being for projecting toward the table top, the projection method comprising:
under the condition that the projector projects preset mark points to the tabletop, determining first position information of the mark points under a first camera coordinate system of the first camera;
determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, second position information of the mark point in the projection coordinate system of the projector and a relative position relation between the projector and the first camera;
acquiring a first moving track of a target object on the training table relative to the training table under the first camera coordinate system;
and converting the first moving track into a second moving track under the projection coordinate system according to the target position relation, and projecting the second moving track to the table top.
2. The projection method according to claim 1, wherein the acquiring a first moving track of the target object on the training stage relative to the training stage comprises:
acquiring the position of the training platform and the position change information of the target object on the training platform;
and determining a first movement track of the target object relative to the training table according to the position of the training table and the position change information of the target object.
3. The projection method according to claim 2, wherein the transforming the first movement trajectory into a second movement trajectory in the projection coordinate system according to the target position relationship comprises:
determining the position of the training platform under the projection coordinate system and the position change information of the target object under the projection coordinate system according to the target position relation;
and determining the second movement track in the projection coordinate system according to the position of the training table in the projection coordinate system and the position change information of the target object in the projection coordinate system.
4. The projection method according to claim 1, wherein after the obtaining the first movement track of the target object on the training stage relative to the training stage, further comprising:
judging whether the falling point of the target object is on the training platform or not according to the first moving track;
and if the falling point of the target object is on the training table, converting the falling point of the target object into a projection point under a projection coordinate system according to the target position relation, and projecting the projection point to the table top in a first preset pattern.
5. The projection method according to claim 1, wherein after the obtaining the first movement track of the target object on the training stage relative to the training stage, further comprising:
determining a first height difference between the target object and the table top at a target position of the training table according to the first moving track, wherein a partition is arranged at the target position;
obtaining a second height difference between the partition and the table top;
determining a third height difference between the target object and the partition according to the first height difference and the second height difference;
projecting the third height difference to the tabletop.
6. The projection method of claim 1, wherein the training assistance system further comprises a second camera mounted at a position higher than the training table and disposed toward the training table, the projection method further comprising:
acquiring speed information of the target object acquired by the second camera;
projecting the velocity information to the tabletop.
7. The projection method according to any one of claims 1 to 6, wherein in the case of target training using the training assistance system, the projection method further comprises:
projecting a second preset pattern corresponding to the target training to the table top;
correspondingly, after the acquiring a first moving track of a target object on the training stage relative to the training stage, the method further includes:
judging whether the falling point of the target object is in the second preset pattern or not according to the first moving track to obtain a judgment result;
and projecting the judgment result to the table top.
8. A projection arrangement of a training aid system, the training aid system comprising a projector and a first camera, the first camera and the projector being mounted at a position higher than a training table and being arranged towards a table top of the training table, the first camera being adapted to acquire an image of the table top, the projector being adapted to project onto the table top, the projection arrangement comprising:
the position information determining module is used for determining first position information of the mark points under a first camera coordinate system of the first camera under the condition that the projector projects preset mark points to the tabletop;
the position relation determining module is used for determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, second position information of the mark point in the projection coordinate system of the projector and a relative position relation between the projector and the first camera;
the track acquisition module is used for acquiring a first moving track of a target object on the training table relative to the training table under the first camera coordinate system;
and the track projection module is used for converting the first moving track into a second moving track under the projection coordinate system according to the target position relation and projecting the second moving track to the table top.
9. A training assistance system, the training assistance system comprising a projector and a first camera, the first camera and the projector being mounted at a position higher than a training table and being arranged towards a table top of the training table, the first camera being configured to acquire an image of the table top, the projector being configured to project onto the table top, the training assistance system further comprising a projection device, the projection device comprising:
the position information determining module is used for determining first position information of the mark points under a first camera coordinate system of the first camera under the condition that the projector projects preset mark points to the tabletop;
the position relation determining module is used for determining a target position relation between the projection coordinate system and the first camera coordinate system according to the first position information, second position information of the mark point in the projection coordinate system of the projector and a relative position relation between the projector and the first camera;
the track acquisition module is used for acquiring a first moving track of a target object on the training table relative to the training table under the first camera coordinate system;
and the track projection module is used for converting the first moving track into a second moving track under the projection coordinate system according to the target position relation and projecting the second moving track to the table top.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the projection method according to any one of claims 1 to 7.
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