CN216629588U

CN216629588U - Football goal line and sideline detecting system based on laser radar

Info

Publication number: CN216629588U
Application number: CN202220071478.3U
Authority: CN
Inventors: 刘博君
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-05-31
Anticipated expiration: 2032-01-12

Abstract

The utility model provides a football goal line and side line detection system based on a laser radar, wherein the detection system is used for detecting whether a football on a court completely crosses a goal line and a side line, the detection system comprises a laser radar module, a background processor and a display terminal, the laser radar module and the display terminal are respectively connected with the background processor, a rotating device is arranged on the laser radar module, a limiting structure is arranged on the rotating device, the limiting structure enables the rotating angle of the laser radar module in the horizontal direction to be 90 degrees, the laser radar modules are arranged into four groups, and the four groups of laser radar modules are respectively arranged at four corners of the court. According to the system for detecting the goal line and the sideline of the football based on the laser radar, the scanning angle of the laser radar module can cover the whole field range, so that whether the football completely crosses the goal line or not can be accurately judged, and whether the football is in the sideline or not can be accurately judged.

Description

Football goal line and sideline detecting system based on laser radar

Technical Field

The utility model relates to the field of sports equipment, in particular to a football goal line and sideline detection system based on a laser radar.

Background

In the football match, the goal can be calculated to be effective after the ball body completely crosses the gate line, and under the high-speed motion of the ball and the fierce match and robbery of the player, the sideline referee is difficult to accurately judge whether the goal is effective through naked eyes, so that the misjudgment on the goal is caused, and even the great influence is generated on the match result. The current goal line detection technology is mature, the trajectory of a ball hitting a goal is captured by a plurality of high-speed high-precision cameras, 500 pictures are recorded every second, and the pictures are analyzed by a computer to judge whether the ball completely crosses the goal line. Within a certain time after the goal, the watch of the referee will give an alarm to indicate that the goal is effective.

However, football is widely used in the world, and the cost of the above system is high, so that the football goal line technology is widely applied to top level games and the number of fingers is applied to second level games in consideration of the cost.

Meanwhile, currently, patent application No. CN201611186322.5 in the prior art discloses an intelligent induction goal device and a soccer goal system, where the intelligent induction goal device includes a first distance meter, a second distance meter, a third distance meter, a processing unit, and a communication unit. First distancer setting is on football goal crossbeam. The second distance meter and the third distance meter are respectively arranged on the stand columns at the two sides of the football goal. The first distance meter, the second distance meter and the third distance meter are respectively electrically connected with the processing unit and used for transmitting the detected distance data to the processing unit. The processing unit calculates and processes the distance data to obtain a sensing result; the communication unit is electrically connected with the processing unit and sends the induction result. Although this patent can the football circumstances of advancing of intelligent response, induction system all sets up on the goal, to the football go out the sideline and can't accurately judge.

In view of the above, the present invention is particularly proposed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a football goal line and sideline detection system based on a laser radar, and aims to solve the problem that although the goal entering condition of a football can be intelligently sensed in the prior art, sensing devices are arranged on a goal, and the sideline cannot be accurately judged.

In order to achieve the purpose, the technical scheme of the utility model is realized as follows:

the utility model provides a football goal line and sideline detecting system based on laser radar, football goal line and sideline detecting system based on laser radar are used for detecting whether the football on the court crosses goal line and sideline completely, football goal line and sideline detecting system based on laser radar includes laser radar module, background processor and display terminal, laser radar module, display terminal respectively with background processor connects set up rotary device on the laser radar module set up limit structure on the rotary device, limit structure makes the laser radar module is 90 at the rotation angle of horizontal direction, the laser radar module sets up to four groups, four groups the laser radar module sets up the four corners in the court respectively.

The utility model provides a football goal line and sideline detection system based on a laser radar, wherein a limit structure enables a rotation angle of a laser radar module in the horizontal direction to be 90 degrees, the laser radar modules are arranged into four groups, and the four groups of laser radar modules are respectively arranged at four corners of a court, so that the scanning angle of the laser radar modules can cover the whole range, whether a football completely crosses a goal line can be accurately judged, and whether the football has a sideline can be accurately judged.

Further, limit structure includes first limiting plate and second limiting plate, the contained angle between first limiting plate and the second limiting plate sets up to 90.

The arrangement is such that the angle of rotation of the lidar module in the horizontal direction is 90 °.

Further, the rotating device comprises a mounting plate, and the first limiting plate and the second limiting plate are mounted on the mounting plate.

Further, a first motor is horizontally arranged on the mounting plate, and the first limiting plate and the second limiting plate are symmetrically arranged on two sides of the first motor.

Furthermore, a first adapter plate is installed on the first motor, and the heights of the first limiting plate and the second limiting plate are higher than that of the first adapter plate.

This setting makes first limiting plate, second limiting plate play the effect of restriction first adapter plate pivoted.

Furthermore, the first adapter plate is vertically connected with the second adapter plate, an installation frame is installed on the second adapter plate, a second motor is installed between the second adapter plate and the installation frame, the laser radar module is installed on the installation frame, and a third motor is installed between the installation frame and the laser radar module.

Furthermore, the laser radar module is installed outside the spherical field through an installation structure, the installation structure comprises an installation column, and an installation plate of the rotating device is installed on the installation column.

This setting has improved laser radar module's installation stability.

Furthermore, four groups of laser radar modules are first radar, second radar, third radar and fourth radar respectively, the mid point of the first sideline in court is first mid point, the nodical second summit that is the second sideline with the first sideline in court, the contained angle of the line of first radar and first mid point, second summit sets up to 90, first radar, second radar symmetry set up the left and right sides at first goal, first radar, third radar symmetry set up the front and back both sides in court, second radar, fourth radar symmetry set up the front and back both sides in court.

This setting makes laser radar module's scanning angle can cover the full field scope, not only can cross the threshold line completely to the football and carry out accurate judgement, whether goes out the sideline to the football simultaneously and carries out accurate judgement.

Further, the background processor is connected with the laser radar module and the display terminal through a 5G communication module.

Further, the display terminal is set as a watch and/or a television.

The display terminal is arranged as a watch, so that the watch is convenient to carry and the detection result is convenient to view; the display terminal is set as a television to facilitate the playback of the goal picture and explain the goal process.

Compared with the prior art, the football goal line and sideline detection system based on the laser radar has the advantages that the rotation angle of the laser radar module in the horizontal direction is 90 degrees due to the limiting structure, the laser radar modules are arranged into four groups, the four groups of laser radar modules are respectively arranged at four corners of a court, the scanning angle of the laser radar modules can cover the whole range, whether a football completely crosses a goal line or not can be accurately judged, whether a football is in a sideline or not can be accurately judged, and therefore penalty errors of football matches are avoided.

Drawings

Fig. 1 is one of schematic top-view structural diagrams of a football court of a laser radar-based football goal line and sideline detection system according to an embodiment of the present invention;

fig. 2 is a second schematic top view of a football court of a laser radar-based football goal line and sideline detection system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a laser radar-based football goal line and side line detection system according to an embodiment of the present invention;

fig. 4 is a schematic view of an installation three-dimensional structure of a lidar module of a system for detecting a soccer gate line and a side line based on a lidar according to an embodiment of the present invention;

fig. 5 is a schematic top view of a rotating device of a laser radar-based football goal line and side line detection system according to an embodiment of the present invention.

Description of reference numerals:

1. a court; 11. a first gate line; 12. a second gate line; 13. a first edge line; 14. a second edge line; 2. a radar module; 21. a first radar; 22. a second radar; 23. a third radar; 24. a fourth radar; 3. a background processor; 4. a display terminal; 5. a rotating device; 51. mounting a plate; 52. a first motor; 53. a transfer rack; 531. a first transfer plate; 532. a second adapter plate; 54. a second motor; 55. a mounting frame; 56. a third motor; 57. a limiting structure; 571. a first limit plate; 572. a second limiting plate; 6. a mounting structure; 61. mounting a column; A. a first vertex; B. a second vertex; C. a third vertex; D. a fourth vertex; E. a first midpoint; F. the second midpoint.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The descriptions of "first", "second", etc. mentioned in the embodiments of the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Example 1

This embodiment proposes a laser radar-based football goal line and sideline detection system, as shown in fig. 1-5, the laser radar-based football goal line and sideline detection system is used for detecting whether the football on the court 1 completely crosses the goal line, the sideline and the bottom line, as shown in fig. 3, the system for detecting goal and sideline based on lidar comprises a lidar module 2, a background processor 3 and a display terminal 4, the laser radar module 2 and the display terminal 4 are respectively connected with the background processor 3, as shown in fig. 4, a rotating device 5 is arranged on the laser radar module 2, a limit structure 57 is arranged on the rotating device 5, the limit structure 57 makes the rotation angle of the laser radar module 2 in the horizontal direction 90, the laser radar modules 2 are arranged into four groups, and the four groups of the laser radar modules 2 are respectively arranged at four corners of the court 1.

This embodiment provides a football door line and sideline detecting system based on laser radar, limit structure 57 makes laser radar module 2 be 90 at the rotation angle of horizontal direction, laser radar module 2 sets up to four groups, four groups of laser radar module 2 set up the four corners in court 1 respectively, make laser radar module 2's scanning angle can cover the whole range, not only can cross the door line completely to the football and carry out accurate judgement, whether go out the sideline to the football and carry out accurate judgement simultaneously, thereby the mistake of punishing of football match has been avoided.

Specifically, as shown in fig. 4 and 5, the limiting structure 57 includes a first limiting plate 571 and a second limiting plate 572, and an included angle between the first limiting plate 571 and the second limiting plate 572 is set to be 90 °.

This arrangement makes the rotation angle of the laser radar module 2 in the horizontal direction 90 °.

Specifically, as shown in fig. 4 and 5, the rotating device 5 includes a mounting plate 51, and the first and second limiting

plates

571 and 572 are mounted on the mounting plate 51.

Specifically, as shown in fig. 4 and 5, a first motor 52 is horizontally disposed on the mounting plate 51, and the first and second limiting

plates

571 and 572 are symmetrically disposed on two sides of the first motor 52.

Specifically, as shown in fig. 4, a first rotation plate 531 is mounted on the first motor 52, and the first and second position-limiting

plates

571 and 572 are higher than the first rotation plate 531.

This arrangement allows the first and

second stopper plates

571 and 572 to function as a stopper for restricting the rotation of the first transfer plate 531.

Specifically, as shown in fig. 4, the adapter frame 53 includes a first adapter plate 531 and a second adapter plate 532.

Specifically, as shown in fig. 4, the first adapter plate 531 is vertically connected to a second adapter plate 532, a mounting bracket 55 is mounted on the second adapter plate 532, a second motor 54 is mounted between the second adapter plate 532 and the mounting bracket 55, the lidar module 2 is mounted on the mounting bracket 55, and a third motor 56 is mounted between the mounting bracket 55 and the lidar module 2.

Specifically, as shown in fig. 1, 2 and 4, the lidar module 2 is mounted on the court 1 through a mounting structure 6, the mounting structure 6 comprises a mounting post 61, and a mounting plate 51 of the rotating device 5 is mounted on the mounting post 61.

This arrangement improves the mounting stability of the laser radar module 2.

Specifically, as shown in fig. 1 and 2, the doorlines of the court 1 include a first doorline 11 and a second doorline 12, and the sidelines of the court 1 include a first sideline 13 and a second sideline 14.

Specifically, as shown in fig. 1 and fig. 2, four sets of the lidar modules 2 include a first radar 21, a second radar 22, a third radar 23, and a fourth radar 24, where a midpoint of a first sideline 13 of the court 1 is a first midpoint E, an intersection point of a first gate line 11 and a second sideline 14 of the court 1 is a second vertex B, an included angle between the first radar 21 and a connection line between the first midpoint E and the second vertex B is set to 90 °, the first radar 21 and the second radar 22 are symmetrically disposed on left and right sides of a first goal (not shown in the figure), the first radar 21 and the third radar 23 are symmetrically disposed on front and back sides of the court 1, and the second radar 22 and the fourth radar 24 are symmetrically disposed on front and back sides of the court 1.

This setting makes laser radar module 2's scanning angle can cover the full field scope, not only can cross the threshold line completely to the football and carry out accurate judgement, whether goes out the sideline to the football simultaneously and carries out accurate judgement.

More specifically, as shown in fig. 1 and 2, the angle between the second radar 22 and the line connecting the second midpoint F and the first vertex a is set to 90 °; the included angle between the third radar 23 and the connecting line of the first midpoint E and the fourth vertex D is set to be 90 degrees; the fourth radar 24 is arranged at an angle of 90 ° with respect to the line connecting the second midpoint F and the third vertex C.

More specifically, as shown in fig. 1 and 2, the first vertex a is an intersection of the first gate line 11 and the first side line 13; the second vertex B is the intersection of the first door line 11 and the second edge line 14; the third vertex C is the intersection of the second door line 12 and the first side line 13; the fourth vertex D is the intersection of the second door line 12 and the second edge line 14. The first midpoint E is the midpoint of the first edge line 13, and the second midpoint F is the midpoint of the second edge line 14.

More specifically, the background processor 3 is connected to the lidar module 2 and the display terminal 4 through a communication module (not shown).

Specifically, the communication module is not limited. Preferably, in this embodiment, the communication module is a 5G communication module.

The communication module is set as a 5G communication module so that the data transmission speed is higher.

Specifically, the number of the display terminals 4 is not limited. Preferably, in this embodiment, the number of the display terminals 4 is set to be one, the number of the display terminals 4 is set to be two, and the number of the display terminals 4 is set to be three.

Preferably, in this embodiment, the number of the display terminals 4 is set to three.

Specifically, the specific form of the display terminal 4 is not limited.

The display terminal 4 can be set as a watch, the display terminal 4 can be set as a computer, the display terminal 4 can be set as a mobile phone, and the display terminal 4 can also be set as a television.

Preferably, in this embodiment, the display terminal 4 is configured as a watch or a television. The display terminal 4 is a watch which is convenient to carry and check the detection result. The display terminal 4 is arranged as a television for playing back a goal picture and explaining the goal process.

Two of the display terminals 4 are configured as watches, and one of the display terminals 4 is configured as a television.

Specifically, set up the tracking module on laser radar module 2, the setting of tracking module makes laser radar module 2 can rotate along with the position of football, and just rotatory along with the motion of the football in court 1.

Specifically, the accuracy of the lidar module 2 is set to the centimeter level. The precision of the laser radar module 2 is set to be centimeter grade, so that the texture of the surface of the football can be distinguished, and the misjudgment rate is reduced.

For the lidar module, besides the structures such as the rotating device 5 mentioned in this embodiment, the lidar module also includes other related components, and for the reason that the specific structures and the specific assembly relationships of the related components are the prior art, details are not described herein.

For the system for detecting goal lines and sidelines based on the lidar, besides the structures of the lidar module 2 and the background processor 3 mentioned in this embodiment, other related components are included, and since the specific structures and the specific assembly relationships of the related components are the prior art, detailed description is omitted here.

The working process of the system for detecting the goal line and the sideline based on the laser radar is as follows:

in the image scanning range of the laser radar module 2, the detailed positions of the first door line 11, the second door line 12, the first side line 13 and the second side line 14 are marked in an image in advance, when a football flies to the first door line 11 or the second door line 12, the positions of the directions are detected by the first radar 21, the second radar 22, the third radar 23 and the fourth radar 24 respectively, the image is transmitted to the background processor 3 through the 5G communication module, and the background processor 3 sends information to a watch of a main officer or a side officer through the 5G communication module after processing; and then, the background processor 3 establishes a 3D picture, transmits the 3D picture to the television through the 5G communication module, plays back the picture on the television and explains the goal process.

This system judges whether the football crosses the threshold line completely through installing first radar 21, second radar 22, third radar 23 and fourth radar 24 on court 1, judges whether the ball goes out the sideline simultaneously. After the goal is made, information is sent to the watch of the master officer through processing of the radar image, and the watch can vibrate and display the goal information. And after the ball has a sideline, the radar image is processed to send information to a watch of a sideline judge, and the judge can refer to the information in the watch when penalty is uncertain.

The embodiment provides a laser radar-based football goal line and sideline detection system which is completely independent of a high-speed camera system in a court 1, does not depend on a high-cost camera set, and can achieve the detection effect.

This embodiment provides a football door line and sideline detecting system based on laser radar, limit structure 57 makes laser radar module 2 be 90 at the rotation angle of horizontal direction, laser radar module 2 sets up to four groups, four groups of laser radar module 2 set up the four corners in court 1 respectively, make laser radar module 2's scanning angle can cover the whole range, not only can cross the door line completely to the football and carry out accurate judgement, whether go out the sideline to the football and carry out accurate judgement simultaneously, thereby the error of penalizing of football match has been avoided.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. A football goal line and side line detection system based on laser radar is characterized in that the football goal line and side line detection system based on laser radar is used for detecting whether a football on a court (1) completely crosses a goal line and a side line, the football goal line and sideline detection system based on the laser radar comprises a laser radar module (2), a background processor (3) and a display terminal (4), the laser radar module (2) and the display terminal (4) are respectively connected with the background processor (3), a rotating device (5) is arranged on the laser radar module (2), a limit structure (57) is arranged on the rotating device (5), the limit structure (57) enables the rotation angle of the laser radar module (2) in the horizontal direction to be 90 degrees, the laser radar modules (2) are arranged into four groups, and the four groups of the laser radar modules (2) are respectively arranged at four corners of the court (1).

2. The lidar based football gate line and sideline detection system according to claim 1, wherein the limit structure (57) comprises a first limit plate (571) and a second limit plate (572), and an included angle between the first limit plate (571) and the second limit plate (572) is set to be 90 °.

3. The lidar based football gate line and sideline detection system of claim 2, wherein the rotating device (5) comprises a mounting plate (51), and the first and second limiting plates (571, 572) are mounted on the mounting plate (51).

4. The laser radar-based football goal line and sideline detection system according to claim 3, wherein a first motor (52) is horizontally arranged on the mounting plate (51), and the first limiting plate (571) and the second limiting plate (572) are symmetrically arranged on two sides of the first motor (52).

5. The laser radar-based football goal line and sideline detection system according to claim 4, wherein a first junction plate (531) is installed on the first motor (52), and the first and second limiting plates (571, 572) are higher than the first junction plate (531).

6. A lidar based football goal line and sideline detection system according to claim 5, wherein said first adaptor plate (531) is perpendicularly connected to a second adaptor plate (532), a mounting bracket (55) is mounted on said second adaptor plate (532), a second motor (54) is mounted between said second adaptor plate (532) and said mounting bracket (55), said lidar module (2) is mounted on said mounting bracket (55), and a third motor (56) is mounted between said mounting bracket (55) and said lidar module (2).

7. A lidar based football goal line and sideline detection system according to claim 6, characterized in that the lidar module (2) is mounted outside the court (1) by means of a mounting structure (6), said mounting structure (6) comprising a mounting post (61), on which mounting post (61) a mounting plate (51) of a rotating device (5) is mounted.

8. The system for detecting the football goal line and the sideline based on the laser radar as claimed in claim 1, wherein four groups of the laser radar modules (2) are a first radar (21), a second radar (22), a third radar (23) and a fourth radar (24) respectively, the midpoint of the first sideline (13) of the court (1) is a first midpoint (E), the intersection point of the first goal line (11) and the second sideline (14) of the court (1) is a second vertex (B), the included angle between the first radar (21) and the connection line of the first midpoint (E) and the second vertex (B) is 90 degrees, the first radar (21) and the second radar (22) are symmetrically arranged at the left side and the right side of the first goal, the first radar (21) and the third radar (23) are symmetrically arranged at the front side and the back side of the court (1), and the second radar (22) and the third radar (23) are symmetrically arranged at the front side and the back side of the court (1), The fourth radars (24) are symmetrically arranged at the front side and the rear side of the court (1).

9. The system for detecting the football goal line and the side line based on the laser radar as claimed in claim 1, wherein the background processor (3) is connected with the laser radar module (2) and the display terminal (4) through a 5G communication module.

10. The lidar based soccer goal line and edge detection system according to claim 1, wherein said display terminal (4) is configured as a watch and/or a television.