CN1546948A - Image pickup range finder for field events and range finding method - Google Patents
Image pickup range finder for field events and range finding method Download PDFInfo
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- CN1546948A CN1546948A CNA200310110665XA CN200310110665A CN1546948A CN 1546948 A CN1546948 A CN 1546948A CN A200310110665X A CNA200310110665X A CN A200310110665XA CN 200310110665 A CN200310110665 A CN 200310110665A CN 1546948 A CN1546948 A CN 1546948A
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Abstract
The invention discloses a kind of imaging and distance measuring device for field events such as jump and the throw. The character lies in: it includes a computer which has two video acquisition and compression cards, the peripheral devices of the computer include: a camera for capturing the jump starting process or the off-hand process of throw, and the process of the jump or the track and point of the thrown object, one or two screens for publicizing the grade of athletes, a printer; it also includes a set of wireless transceiver for transmitting the power-on signal of the camera, and a set of wireless transceiver for transmitting the illegality signals. The invention can measure the distances. The invention is safe, accurate, and low cost.
Description
Technical field
The present invention relates to a kind of shooting stadimeter and distance-finding method, especially a kind of shooting stadimeter and distance-finding method that is used for the range observation of physical culture field events.
Background technology
Distance mearuring equipment, the home and abroad has laser range finder, redar, ultrasonic range finder etc. multiple for a long time, and these range finding instruments have characteristics such as distance accuracy height, speed be fast, at present, the match of the field events of megaevent all is to utilize these range finding instruments to measure games results.But also there is following defective in these range finding instruments: when measuring the field events achievement, the staff must be in the action, the one man operation instrument, and another people inserts the pick-up point with reflective mirror, just can finish surveying work, can't realize full-automatic range finding.Particularly javelin, dangerous again when the discus referee enters in the place is difficult to be certain about the pick-up point again, and this brings sizable risk for judge's work, and laser range finder costs an arm and a leg in addition, can't popularization and application.
Summary of the invention
The objective of the invention is to overcome the above-mentioned defective that has stadimeter now, provide a kind of safe in utilization, range finding is accurate, and cost is lower, need not field events long-jump, throwing shooting stadimeter and distance-finding method that the referee is in the action and measures.
The present invention's shooting stadimeter comprises a microcomputer that the two-path video collecting and compressing card is housed, the peripherals of this microcomputer comprises: catch to step on and jump or by sell process and catch the long-jump process or by each one in the video camera of ammunition flight path and drop point of ammunition, the display screen of announcing athletes ' performance is at least one, preferably be no less than two, one of printer; Configuration sends radio transceiver one cover that receives the video recorder starting-up signal in addition, and foul detecting device and transmission are stepped on jumping, thrown radio transceiver one cover of foul signal.
Utilize that the method for the present invention's shooting stadia surveying distance comprises the following steps: that (1) will jump, the image rendering of throwing field on computer display screen, and deposit in the computer memory; (2) utilize the pixel setpoint distance of screen, obtain a distance value; (3) the image adjustment of the actual jump of again video camera being taken the photograph, throwing field be plotted in the jump on the computer display screen, the doubling of the image of throwing field, and carry out target following; (4) carry out Flame Image Process, search for pick-up point accurately, calculate jump, cast accurately.Above-mentioned distance measurement method, the present inventor is referred to as the overlay method of making a video recording.
The characteristics because jump, throwing event are had nothing in common with each other, also there is difference in the place, and therefore, both concrete technical schemes can be slightly variant.
The present invention is safe in utilization, and range finding accurately need not referee's measuring distance of being in the action; Shooting stadimeter cost is low, is convenient to generally apply.
Description of drawings
Fig. 1 is each arrangement of components block diagram of one of embodiment of the invention long-jump shooting stadimeter;
Fig. 2 is the embodiment long-jump competition procedures control flow block diagram of Fig. 1;
Fig. 3 is the achievement calculation process block diagram in the embodiment long-jump competition procedures of Fig. 1;
Fig. 4 is that the achievement in the embodiment long-jump competition procedures of Fig. 1 is calculated starting point location synoptic diagram.
Embodiment
The invention will be further described by the following examples.
With reference to accompanying drawing 1, present embodiment is a long-jump shooting stadimeter, comprise a microcomputer 1 that the two-path video collecting and compressing card is housed, the outer periphery of this microcomputer 1 has: catch No. 1 video camera 2 of take-off process and catch No. 2 video cameras 3 of long-jump process and pick-up point, announce the display screen 4 and 5 of trial jump person's number and achievement, printer 8; Also comprise sending No. 1 radio transceiver 6, the foul detecting device 9 that receives the video recorder starting-up signal and sending and step on No. 2 radio transceivers 7 of jumping the foul signal.
The long jump runway image rendering on computing machine 1 indicator screen, and is deposited in the storer of computing machine 1.
During use, No. 1 video camera 2 places beat board one side, No. 2 video camera places sand pit one side, No. 1 radio signal transmitter 6 places run-up line one side of the preceding 1-2 rice of beat board, No. 2 radio signal transmitter 7 places beat board one end, foul detecting device 9 also places beat board one end, and microcomputer can place on the worktable between two video cameras.
At first athletic essential information is imported computing machine 1, and deposit in the storer of computing machine 1.
Long-jump competition procedures control flow is referring to Fig. 2.
As shown in Figure 2, step 200 is an initial step, computing machine sends the voice suggestion of issuing an order, display screen 4 and 5 shows player number simultaneously, No. 1 video camera 2 start working (step 201), and start countdown (step 241) in 1 minute, the sportsman finishes trial jump in must (being generally 60 seconds) at the appointed time, clock is walked last 15 seconds sound the alarm (step 242), reminds sportsman's trial jump that there is little time left, countdown 1 minute finish (step 243), end countdown and send timeout signal (step 244), remind the chief referee, the time arrives, and whether the sportsman breaks the rules; Issuing an order back 1 minute in, when (1 to 2 meter), No. 1 radio signal triggers (step 202) before the sportsman goes to take-off board, and No. 2 video camera 3 is started working, and the shooting process of two video cameras all begins storage (step 203) simultaneously; After the sportsman lands, finish (step 204) of making a video recording; As not foul of sportsman, carry out achievement again and calculate (step 205); After athletes ' performance calculates, carry out image, achievement storage work (step 206) again.Issuing an order back 1 minute in, sportsman's run-up if pin surpasses scratch line, can come and go and carry out repeatedly run-up, by abort key with heavily jump key executable operations (step 211,212,221,222).At the appointed time, the sportsman does not step on jumping triggering No. 1 signal, and pin does not surpass scratch line again, returns rib again and runs starting point, will be regarded as heavily jumping.If pin surpasses scratch line, i.e. foul (step 231), do foul and handle (step 232), in order to save hard disc of computer space and (the video camera switch is controlled automatically) easy and simple to handle, when the sportsman heavily jumps, referee or staff tell computing machine heavily to jump by computer interactive, the state after this computer-chronograph recovers to issue an order.The sportsman finishes after the trial jump, and the computing machine video recording finishes, and the staff can judge foul or calculate achievement that (step 207) ended in this trial jump afterwards.
This shooting stadimeter can intactly be noted the take-off process and the long-jump process of each athletic long-jump each time the whole story, both has been used for real-time foul judgement and achievement measure, also can be used as long-jump technical Analysis foundation.
After shooting finished, the staff still had three selections, promptly ended, broke the rules and calculate achievement.The staff can also browse athletic long-jump video recording, and as the reference that the sportsman calculates achievement, the athletic foul type of record also is a foundation of judging whether the sportsman breaks the rules in foul information one hurdle.If select to calculate achievement, computing machine just can begin to calculate achievement.
When achievement is calculated, to the pick-up point to define 3 kinds of methods available: self-action, hand, assist type.
As shown in Figure 3, step 300 is an initial step; After judging that the sportsman does not have foul, select step 301 earlier, promptly calculate the achievement mode automatically, carry out achievement and calculate: at first select first width of cloth and last piece image (step 302); Smooth because of first width of cloth image sand pit, there are many footprints in last piece image sand pit, has promptly found trial jump person's whereabouts, carries out denoising, eliminates isolated point (step 303); First footprint of signature search according to footprint, promptly from the nearest footprint (step 304) of range finding starting line, search for successfully (step 305), again the image after subtracting each other is selected the low valve valve denoising, search footprint forefront in the footprint zone that searches for the first time thinks that this point is pick-up point (step 306); Call director surface then and fit algorithm computation and go out actual measurement apart from a section achievement, adding prefabricated achievement (being that the take-off board inner edge is to the distance between the effective coverage range finding start line) is exactly trial jump achievement (referring to the explanation of " native system range measurement principle " part).
If any doubtful point, available manual mode check; Perhaps when selecting for use automated manner to search for first footprint when unsuccessful, can select for use manual mode to carry out achievement and calculate (step 311): select a width of cloth the best to land image (step 312) earlier, select best landing position to tap (step 313) with mouse again, call director surface then and fit the algorithm computation achievement and show (step 307).
Under the situation of big event, can also select supplementary mode that achievement is checked (step 321), reopen video camera 3 No. 2, put an autocratic object of reference (step 322), grasp image, call object of reference searching algorithm search object of reference (step 323) with No. 2 video cameras, search for successfully (step 324), continue the forefront of search object of reference again, selected this point calls director surface again and fits algorithm computation achievement (step 307) for pick-up point (step 325).When step 324 search is unsuccessful, then selects for use manual mode to carry out achievement and calculate.
The range measurement principle of native system is as follows.
(1) distance calculation
With reference to Fig. 4.The image of computing machine is made up of pixel, and the actual range of representing between the image pixel that a width of cloth is determined is constant, therefore can come on the computed image distance of representative between any 2 with the distance between the pixel in theory.Usually, selecting in the sand pit 40 one ideal zone is effective coverage (long less than 6 meters, width is not limit).Suppose that in measuring process No. 2 video cameras 3 are positioned at the centre of the left and right sides of zoning, the sportsman is from take-off board 45 position take-offs shown in Figure 4.As long as calculate effective coverage start line 44 to the vertical range between the pick-up point 41, add the vertical range (promptly aforementioned " prefabricated achievement ") of take-off board 45 inner edges to effective coverage start line 44, just athletic trial jump achievement.Experiment showed, that video camera is far away more, the distance of neighbor representative is big more, and changes fast more.Guaranteeing under the prerequisite of camera perpendicular to the sand pit that image all has much relations with the relation and height and horizontal range, the various optical parametrics of camera lens itself, focal length, the angle of camera lens from the sand pit of material object.Even these parameters can be input to computing machine by signal Processing, relational expression determine that very big difficulty is also arranged.Test repeatedly and study according to the present inventor, proposed following several method:
1) single regional straight line check and correction thinks that the distance that image that ranging region became is represented equates between two pixels of same horizontal line.Less or can adopt this way when not high when the distance of ranging region to accuracy requirement.When framing with mouse input test zone in echelon four end points of image get final product.
2) to proofread the theoretical foundation of this way the same with first method for many reference points of multizone straight line, only much higher on precision, (broad jump system has adopted 30 zones with the several regions of sizes such as the sand pit is divided into for it, 44 reference points, number multiple error more is more little), utilize multiple spot to calculate, select nearest reference point to calculate (ask the pick-up point to arrive the lateral separation of reference point, the distance of representing between pixel is the little trapezoidal middle neighbor distance of crossing the line segment of this point at place, pick-up point) in the broad jump system.
3) linear approximation methods 2 based on many reference points of multizone straight line proofreading method can improve precision, but also has a problem: error is unbalanced.Equate because its theoretical foundation is the distance of neighbor representative in a little zone, and the fact is unequal.According to general general knowledge and experimental verification repeatedly, find on same horizontal direction, big more from the distance of camera lens far away more two adjacent pixel representatives.If employing method 2, the pick-up point is big more from reference point error far away more so.This rule has been arranged, just can proofread and correct, approach with linear method.
4) director surface fits above three kinds of methods a most basic common hypothesis: the image that the horizontal line section in the ranging region is become with vertical line segment can be referred to as the linear approximation method still for straight line.Under the camera lens quality was not very poor situation, method 3 can reach the requirement of physical culture distance measuring precision fully.It is a kind of method that is different from linear proximity fully that curved surface fits, and its purpose is that the position relation of material object with its image showed.The present inventor is through discovering in a large number, and it is bigger, generally inadvisable that curved surface fits difficulty.But because a long-jump range finding calculated level distance, as long as will come out with the curve fit of equidistant image that perpendicular line becomes.Experiment and studies have shown that: utilizing the way of curve fit to try to achieve image is feasible with relation in kind.In broad jump system, adopted following measures to carry out curve fit:
1. the sand pit is used the grid dividing (require to determine the straight line number according to the physical culture distance measuring precision, broad jump system adopts 11 vertical four horizontal schemes) that interlaces in length and breadth.Spacing between the ordinate can be different, and preferably decentering spacing far away more is more little.Computing machine obtains after the image, and utilizing least square method is that each bar curve is obtained a polynomial expression (three suboptimums).Broad jump system can obtain 15 curve's equation, utilizes these 15 curves to carry out director surface and fits.Use V
iThe expression ordinate, H
iThe expression horizontal line.
V
i：y＝a
i0+a
i1x
1+a
i2x
2+a
i3x
3(1≤i≤11)
H
i：x＝b
i0+b
i1y
1+b
i2y
2+b
i3y
3(1≤i≤4)
Utilize the intersection point of co-ordination to fit out the relation of each bar horizontal line distance and x coordinate:
XC
i：x＝c
i0+c
i1c
1+c
i2c
2+c
i3c
3(1≤i≤4)
2. according to H
iAnd XC
iCan obtain the coordinate on the corresponding horizontal line of any distance.Because four horizontal lines are arranged, each distance C just can obtain four intersection points so, can fit out the expression formula of the pairing ordinate of this distance according to these four intersection points:
L：y＝a
0+a
1x
1+a
2x
2+a
3x
3
3. previous step is to obtain a curve by distance.How to obtain distance by a coordinate? in broad jump system, adopted following method: obtain an approximate distance C with the linear approximation method by pick-up point P earlier, by 2. obtaining a curve L, x coordinate substitution L with P, obtain 1 P ', obtain the approximate distance c (symbol is arranged) of line segment PP ', obtain a new distance C then '=C+c.By C ' the new curve L ' that gets back, by that analogy, enough little up to the approximate distance c of line segment PP '.Finally obtain the distance of pick-up point P correspondence.
Adopt director surface to fit and asks the error of distance very little, computational science not only, and also easy and simple to handle.The user if the difference in brightness of 15 lines and background is enough big, just can locatees (utilizing Flame Image Process to discern 15 lines) automatically, and need not to import with click when carrying out framing.
(2) pick-up point determines
Know the distance of every bit representative, remaining next problem has been exactly to have determined the pick-up point.At present, three kinds of modes are arranged in the broad jump system:
1) the manual mode computing machine is selected an optimal image automatically, and the operator utilizes mouse to select the sportsman pick-up point.If bad definite, could enlarged image (raising precision).
2) the automated manner computing machine calculates the position, pick-up point automatically.Adopt two width of cloth images to compare search.Principle is fairly simple, selects first width of cloth and last piece image, only can be left current athletic footprint after the contrast, perhaps comprises sportsman itself.Because video recorder itself can produce salt green pepper noise, and these noises just differ (proportion that low noise accounts for is bigger) through gray-scale value after the contrast, therefore, also need carry out de-noising work.Get a bigger value earlier, filter out the noise of the overwhelming majority, eliminate isolated point, image substantially only has been left footprint, easily searches the general location of footprint; Get a less value (minimum gradation value that does not exceed footprint) again and go hot-temperedly,, search for calcaneal forefront, finish accurate location, finally find the pick-up point according to the feature of footprint.The hit rate that experiment showed, this method is very high, and error is no more than 5 millimeters.
3) supplementary mode is in high-level athletic meeting, and footprint may be irregular, and perhaps last touchdown point is other positions of health, employing method 2) may not be very reliable.Therefore, the present inventor provides supplementary mode.After sportsman's trial jump finished, if select supplementary mode, No. 2 video recorder was started shooting again, and the staff will be at eye-catching object of athletic pick-up point dispensing (being generally white), and computing machine is easy to find this place, thereby finishes determining of pick-up point.In order to determine that more accurately the rectangular cardboard of the white suitable size in black centre, two ends has been adopted in pick-up point, present inventor is object of reference.The advantage of this object of reference is sharpness of border, but also can calculate near the change curve of the gradation of image of drop point, the more accurate pick-up point (coordinate is continuous decimal, rather than discrete integer) of trying to achieve.Experiment showed, that this way search accuracy is 100% if do not consider height change and the artificial mistake of placing.That is to say that the way of this search pick-up point is said without any error from theory.The range error minimum of supplementary mode is less than or equal to positive and negative 3 millimeters.
More than three kinds of modes, with automated manner the most succinct (operator issue an order after need only click once), supplementary mode is the most reliable.
Claims (3)
1. field events shooting stadimeter, it is characterized in that, comprise one of the microcomputer that the two-path video collecting and compressing card is housed, the peripherals of this microcomputer comprises: catch take-off or by ammunition sell process and catch the long-jump process or by the video camera of ammunition flight path and drop point each one, announce athletes ' performance display screen at least one, one of printer; Also dispose and send radio transceiver one cover that receives the video camera starting-up signal, foul detecting device and transmission are stepped on jumping, are thrown radio transceiver one cover of foul signal.
2. field events shooting stadimeter according to claim 1 is characterized in that, announces that the display screen of athletes ' performance is two.
3. field events shooting distance-finding method may further comprise the steps:
(1) will jump, the image rendering of throwing field on computer display screen, and deposit in the computer memory;
(2) utilize the pixel setpoint distance of screen, obtain a distance value;
(3) the image adjustment of the actual jump of again video camera being taken the photograph, throwing field be plotted in the jump on the computer display screen, the doubling of the image of throwing field, and carry out target following;
(4) carry out Flame Image Process, search for pick-up point accurately, calculate jump, cast accurately.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103245336A (en) * | 2013-05-20 | 2013-08-14 | 苏州大学 | Distance measuring device for distance jumping event |
| CN103357139A (en) * | 2013-06-25 | 2013-10-23 | 山东华宇职业技术学院 | Accurate training device for long jump athletes |
| CN106403826A (en) * | 2016-12-21 | 2017-02-15 | 盐城工学院 | Measuring device for standing long jump |
| CN109589586A (en) * | 2018-12-14 | 2019-04-09 | 台州学院 | Novel targets for dart automatic range device for scoring |
| CN110975270A (en) * | 2019-12-20 | 2020-04-10 | 西南交通大学 | Standing long jump detection method based on marks and computer vision |
| CN111862158A (en) * | 2020-07-21 | 2020-10-30 | 湖南师范大学 | Staged target tracking method and device, terminal and readable storage medium |
| CN113137923A (en) * | 2020-01-17 | 2021-07-20 | 上海淡竹体育科技有限公司 | Standing long jump sport result measuring method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2063831U (en) * | 1990-04-12 | 1990-10-17 | 华东工学院 | Far distance leap laser automatic range finder of track and field sports |
| CN1284961C (en) * | 2001-12-17 | 2006-11-15 | 中国科学院自动化研究所 | Plane measuring method based on single piece image |
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2003
- 2003-12-16 CN CNB200310110665XA patent/CN100348948C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103245336A (en) * | 2013-05-20 | 2013-08-14 | 苏州大学 | Distance measuring device for distance jumping event |
| CN103245336B (en) * | 2013-05-20 | 2015-10-28 | 苏州大学 | For the distance-measuring device of length jump event |
| CN103357139A (en) * | 2013-06-25 | 2013-10-23 | 山东华宇职业技术学院 | Accurate training device for long jump athletes |
| CN103357139B (en) * | 2013-06-25 | 2016-05-25 | 山东华宇职业技术学院 | The accurate trainer of long jumper |
| CN106403826A (en) * | 2016-12-21 | 2017-02-15 | 盐城工学院 | Measuring device for standing long jump |
| CN109589586A (en) * | 2018-12-14 | 2019-04-09 | 台州学院 | Novel targets for dart automatic range device for scoring |
| CN109589586B (en) * | 2018-12-14 | 2020-11-17 | 台州学院 | Novel automatic range finding score of javelin target device |
| CN110975270A (en) * | 2019-12-20 | 2020-04-10 | 西南交通大学 | Standing long jump detection method based on marks and computer vision |
| CN113137923A (en) * | 2020-01-17 | 2021-07-20 | 上海淡竹体育科技有限公司 | Standing long jump sport result measuring method |
| CN111862158A (en) * | 2020-07-21 | 2020-10-30 | 湖南师范大学 | Staged target tracking method and device, terminal and readable storage medium |
| CN111862158B (en) * | 2020-07-21 | 2023-08-29 | 湖南师范大学 | Staged target tracking method, device, terminal and readable storage medium |
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| CN100348948C (en) | 2007-11-14 |
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