CN213965069U

CN213965069U - Table tennis entertainment service system based on target detection and single-view-angle score judgment

Info

Publication number: CN213965069U
Application number: CN202022724234.4U
Authority: CN
Inventors: 李伟; 郑雨欣; 顾程鑫; 黄继业; 毛艺淇; 甘怡韵
Original assignee: Hangzhou Dianzi University
Current assignee: Hangzhou Dianzi University
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-08-17
Anticipated expiration: 2030-11-23

Abstract

The utility model discloses a table tennis entertainment service system based on target detection and single-view angle judgment, wherein the scoring system comprises a high-speed industrial camera, a first processor module, a display screen module and a sound module; the scoring system adopts a modular structure, and the high-speed industrial camera, the display screen module and the sound module are connected with the first processor module; the ball picking system comprises a voice receiving module, a camera module, an infrared obstacle avoidance module, a second processor module, a wheel set module, a robot arm module and a power supply; the voice receiving module, the camera module, the infrared obstacle avoidance module, the wheel set module and the mechanical arm module are connected with the second processor module, and the power supply supplies power to the whole system. The utility model discloses easily install, easy to use has higher real-time, with can be effective, draw the match score in real time to show and voice broadcast, begin to remove simultaneously and pick up the ball.

Description

Table tennis entertainment service system based on target detection and single-view-angle score judgment

Technical Field

The utility model belongs to object detection and discernment field, especially a table tennis entertainment service system based on target detection judges with single vision angle and divides.

Background

In traditional table tennis amusement, there is often no referee, and at this moment, both players need to remember scores all the time, and at the same time, when hitting the ball to fly each time, the players need to pick up the ball artificially, which reduces the entertainment of the table tennis to a certain extent. Compared with the traditional entertainment mode, the utility model has the outstanding characteristics of unmanned resources consumption, all-day standby, real-time and stable performance.

SUMMERY OF THE UTILITY MODEL

The utility model provides a table tennis entertainment service system based on target detection and single visual angle are judged to present table tennis entertainment service's not enough.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the scoring system comprises a high-speed industrial camera, a first processor module, a display screen module and a sound box module; the scoring system adopts a modular structure, the high-speed industrial camera is directly connected with the processor module through a USB3.0 interface, the display screen module is connected with the first processing module through an HDMI interface, and the sound module is connected with the first processor module through a Line Out interface;

the ball picking system comprises a voice receiving module, a camera module, an infrared obstacle avoidance module, a second processor module, a wheel set module, a robot arm module and a power supply; the wheel set module is arranged at the bottom of the ball picking system and used for freely moving, the voice receiving module is directly connected with the second processor module, the camera module is directly connected with the second processor module through a USB2.0 interface, the infrared obstacle avoidance module is directly connected with the second processor module, the wheel set module is indirectly connected with the second processor module through a driving plate, the mechanical arm module is directly connected with the processor module, and the power supply supplies power to the whole system.

Preferably, the first processor module selects CORE i 38 th of intel as a CORE module for realizing the operation management and control of the whole system;

preferably, the high-speed industrial camera adopts a C-port camera with 210 frames, and is used for realizing local input of the video of the whole system;

preferably, the second processor module selects raspberry pi 4B; the system is used for realizing the operation management and control of the whole system;

preferably, 4 Mecanum wheels are selected as the wheel set module.

Preferably, the robot arm module adopts a four-degree-of-freedom metal mechanical arm and consists of four steering engines.

The display screen module is a 32-inch E32C high-definition liquid crystal display screen; the audio module is selected from a common small sound box.

The voice receiving module needs a common microphone; the camera needs a common USB drive-free camera and is used for capturing an identification picture; the infrared obstacle avoidance module adopts an infrared photoelectric sensor.

The utility model discloses the beneficial effect who has is: the scoring system adopts a mode that a local high-speed industrial camera grabs a game picture, obtains the current game situation by target detection and track prediction and combining table tennis appraisal under a single visual angle, provides clear score result display and timely voice broadcast, then automatically awakens according to the voice broadcast content by the ball picking system, starts to detect and identify surrounding table tennis, when identifying the table tennis, the table tennis is firstly quickly and then slowly close to the position of the table tennis, and when the table tennis is close enough, the mechanical arm can grab and throw the table tennis to a ball basket on a vehicle. Compared with the traditional table tennis entertainment mode, the table tennis entertainment system has advantages in aspects of investment, running economy, system durability, portability, automation degree and the like.

Drawings

Fig. 1 is a schematic diagram of the system structure of the present invention.

Detailed Description

The invention is further described with reference to the following figures and examples.

As shown in fig. 1, a table tennis entertainment service system based on target detection and single-view scoring comprises a scoring system and a ball picking system.

The scoring system comprises a high-speed industrial camera, a processor module, a display screen module and a sound box module; the high-speed industrial camera is directly connected with the embedded processor through a USB3.0 interface, the high-speed industrial camera is programmable, the system adopts an Opencv library to drive the camera, and relevant parameters of the camera are configured, such as: exposure time, contrast, image gain, gamma value and the like, and the robustness of the system to the environment is enhanced; the image preprocessing module is mainly divided into ping-pong table identification and ping-pong position detection. A Ubuntu18.04 system is installed on the processor module, QT is adopted for interface development, Opencv is used for relevant algorithm processing, and the judgment result is output through an HDMI interface and a Line Out interface. The appraising program under the single visual angle adopts the thought design of a state machine and is designed into five states: initial state, service passing-through state, normal drive-back state and normal opposite-strike state; meanwhile, a timer is used for judging whether the ball is not normally knocked back; the display screen module is connected with the embedded module through an HDMI interface, and the resolution is set to 1920X 1080; the audio module is connected with the embedded module through a Line Out interface and is adjusted to the maximum power output, and the source of voice broadcast is a local MP4 audio file generated in advance by using a fast text-to-voice assistant.

The ball picking system comprises a voice receiving module, a camera module, an infrared obstacle avoidance module, a processor module, a wheel set module, a robot arm module and a power supply; the processor module voice receiving module adopts a wireless microphone and transmits information in a UHF communication mode; the camera module adopts a common USB drive-free camera and is directly connected with the processor module; the infrared obstacle avoidance module adopts a diffuse reflection three-wire infrared probe, and the induction distance can be adjusted to be 80 cm; the processor module is provided with a Raspbian Buster system which is developed by adopting python, Opencv carries out related algorithm processing, and the peripheral module is controlled by GPIO; the wheel set module is directly connected with the driving plate, and four direct-current speed reduction motors are adopted to drive four Mecanum wheels. The robot arm module adopts four-degree-of-freedom metal mechanical arm and is composed of four steering engines, and the processor module controls the four steering engines to rotate by different angles through outputting different PWM waves, so that the ball picking function is realized.

A table tennis entertainment service system based on target detection and single-view angle judgment has a basic working flow of a corresponding function selected by an embedded processor through the control of a wireless mouse. In the local mode, the embedded processor calls the high-speed industrial camera to capture the match picture in real time, and then the identification of the ping-pong table is firstly carried out. The table tennis table identification uses a canny edge detection algorithm and Hough line change to determine the edge of the table tennis table, and a rectangular frame area of the table tennis table is obtained. And then, the system can continuously detect the table tennis, the detection of the table tennis adopts a mixed Gaussian background modeling mode, the motion foreground is segmented, image denoising is carried out through opening operation and closing operation, and at the moment, a plurality of error samples exist, and screening is carried out according to the color, the area, the perimeter, the circularity and the gradient characteristics of the table tennis. And finally, predicting the future track of the table tennis through a particle filter algorithm. Finally, the system combines a ping-pong scoring program under a single visual angle according to the recognized ping-pong position and the recognized ping-pong table area, gives a scoring result in real time and outputs a score in a display screen and voice broadcasting mode; this process is prior art.

After the score is broadcasted to the language, the keyword is detected by the voice module, and the ball picking robot starts to operate. The operation process is as follows, firstly, the camera on the trolley is opened, and the ping-pong ball is searched in the visual field range. If not, the robot can rotate by itself to find the position of the ball. If found, the robot moves according to the contour coordinates of the ball, and places the ball at the center of the field of view, after which the robot moves forward. In the advancing process, the robot can change the position of the camera at any time, so that table tennis balls are prevented from disappearing in the visual field. When approaching the ball, the robot can slow down the advancing speed so as to realize the accurate catching of the table tennis. When the ball enters the mechanical arm clamping area, the mechanical arm is closed, after the ball is clamped, the mechanical arm integrally carries out ball throwing motion, the ball is thrown into a ball frame on the trolley, finally the mechanical arm is restored to the original state, a complete ball picking process is completed, and then the robot can be awakened again to pick the ball.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A table tennis entertainment service system based on target detection and single-view scoring is composed of a scoring system and a ball picking system, and is characterized in that:

the ball picking system comprises a voice receiving module, a camera module, an infrared obstacle avoidance module, a second processor module, a wheel set module, a robot arm module and a power supply; the wheel set module is arranged at the bottom of the ball picking system and used for freely moving, the voice receiving module is directly connected with the second processor module, the camera module is directly connected with the second processor module through a USB2.0 interface, the infrared obstacle avoidance module is directly connected with the second processor module, the wheel set module is indirectly connected with the second processor module through a driving plate, the mechanical arm module is directly connected with the second processor module, and the power supply supplies power to the whole system.

2. The table tennis entertainment service system based on object detection and single viewpoint discrimination as claimed in claim 1, wherein: the first processor module selects the CORE i 38 th of intel as the CORE module.

3. The table tennis entertainment service system based on object detection and single viewpoint discrimination as claimed in claim 1, wherein: the high-speed industrial camera adopts a C-port camera with 210 frames.

4. The table tennis entertainment service system based on object detection and single viewpoint discrimination as claimed in claim 1, wherein: the second processor module selects raspberry pi 4B.

5. The table tennis entertainment service system based on object detection and single viewpoint discrimination as claimed in claim 1, wherein: the wheel set module selects 4 Mecanum wheels.

6. The table tennis entertainment service system based on object detection and single viewpoint discrimination as claimed in claim 1, wherein: the robot arm module adopts a four-degree-of-freedom metal mechanical arm and consists of four steering engines.