EP2191878A1 - Ball detection device - Google Patents

Abstract

The device (10a) has a sensor unit (12a) with a sensor for detecting a ball (14a) partially by an object (18a) e.g. person, shielding a visible light. The sensor has a detection unit that determines a distance between the sensor and the ball. The sensor unit exhibits a transmitter for transmitting energy detected by the sensor. A computing unit interprets position of the ball according to rules of ball sports. The sensor unit has two sensor matrices (20a, 21a) that are aligned and/or positioned differently.

Description

State of the art

The invention is based on a ball recognition device according to the preamble of claim 1.

There is already known a ball recognition device which has at least one sensor unit which is provided to detect a ball in shape and position.

Advantages of the invention

The invention is based on a ball recognition device which has at least one sensor unit which is provided to detect a ball in shape and position.

It is proposed that the sensor unit has at least one sensor which is provided to at least partially detect a ball through an object shielding a visible light.

A "visible light shielding article" shall be understood to mean, in particular, an object for the light reflected and / or absorbed by the ball, in a circumference in which the object is located between the ball and the sensor, in a human eye visible frequency range completely, but at least 99.9%, absorbed and / or reflected. In this case, the object is at least partially between the ball and the sensor and makes a complete detection of the ball in the form and location by means of a working with visible light sensor according to the current state of the art impossible. In this context, a "shape" is to be understood as meaning, in particular, at least one outer contour of the ball, wherein the contour is detected in at least two extent directions. In this case, at least one of the directions of extension is measured quantitatively. The further directions of extent can in particular also be quantitatively measured and / or determined from a time course. By "provided" is to be understood in particular specially equipped, designed and / or programmed. A "ball" is to be understood in particular also another object that is used in accordance with a conventional use of a ball in a ball sport, such as a puck or another, the skilled person appear useful as an object. Preferably, the sensor unit detects the ball in an area in the experience, according to experience often confusing game situations occur, such as football in a lower half of a football goal. As a result, the sensor can detect the shape and position of the ball despite complete shielding in the visible frequency range of the light.

Furthermore, it is proposed that the sensor unit has at least one sensor matrix in which at least the sensor, preferably a plurality of sensors, is or are arranged. A "sensor matrix" is to be understood in particular as an arrangement of at least one sensor in a preferably rectangular coordinate system in at least one extension direction. A "sensor" is to be understood as meaning, in particular, a high-frequency, microwave, X-ray, magnetic field, ultrasonic sensor and / or another sensor which appears appropriate to a person skilled in the art. As a result, the sensor arranged in the sensor matrix can have a particularly simple evaluation.

It is also proposed that the sensor matrix has a plurality of sensors arranged in at least one row. Advantageously, the at least one row has at least one path that corresponds to at least one diameter of the ball. A "route" is to be understood as meaning in particular an at least one-dimensional extent, which is at least one line. In the case of another non-spherical object, a "diameter" should be understood as meaning, in particular, a shortest section line through a center point of the object. This allows the sensor unit to determine the shape and position of the ball by means of particularly simple calculations.

It is further proposed that the sensor matrix is designed to detect the ball in at least two extension directions of the sensor matrix at least over a distance that corresponds to a width of at least one boundary line of a playing field. A "boundary line" is intended in particular to correspond to the rules of a ball sport Boundary line of the playing field to be understood. In particular, lines should also be counted to limit areas within the playing field. Particularly advantageously, the width of the sensor matrix corresponds at least to the width of the boundary line, wherein the sensor matrix runs parallel to the boundary line and the boundary line lies in a detection direction of the sensor. A "detection direction" is to be understood in particular as meaning a direction which is perpendicular to the sensor matrix and, starting from the sensor, points in the direction in which the sensor should detect the ball. As a result, the sensor unit can advantageously detect the ball over the entire width of the boundary line.

In a further embodiment, it is proposed that the sensor matrix is designed to detect the ball in at least two extension directions of the sensor matrix at least over a distance which corresponds to a diameter of the ball, whereby the sensor unit can detect completely completely a shape of the ball.

It is also proposed that the sensor unit has at least two sensor matrices which are aligned and / or positioned differently. The two sensor matrices are preferably aligned and positioned so that two detection regions of the sensor matrices at least partially overlap. Preferably, the two sensor matrices are aligned perpendicular to each other. In this case, the sensor matrices form two sides of a cuboid detection area. This can be in a structurally simple structure the ball recognition device, a three-dimensional detection of the ball can be achieved in the detection area.

Furthermore, it is proposed that the sensor is at least provided to detect an overlapping area of a sensor detection area and a volume of the ball. A "sensor detection area" should be understood to mean, in particular, a region which comprises the area which is substantially perpendicular to the sensor matrix, extends in the detection direction of the sensor and lies above a matrix field. An extent of the sensor detection area in the detection direction of the sensor is limited at least by a size of a play area. If the sensor matrix has a plurality of sensors, their sensor detection regions preferably extend parallel to one another and perpendicular to the sensor matrix. A "matrix field" is to be understood in particular a part of the surface of the sensor matrix, which is assigned to the sensor. This surface is preferably round or rectangular. In particular, it is irrelevant that an entire area of the sensor matrix is assigned to matrix fields. Two sensor detection areas adjacent to one another in the Cartesian coordinate system have a maximum distance which corresponds to half the minimum diameter of the ball. Advantageously, the adjacent sensors have a maximum distance to each other, which corresponds to one-tenth of the minimum diameter of the ball. An "overlap area" is to be understood in particular as an area in which the sensor detection area and the volume of the ball overlap. The sensor detects the overlap area because the energy that penetrates the sensor detection area is at least partially in the overlap area is changed. If more than 10% of the energy is changed, for example, the overlap area is considered to exist. In this context, the term "changed" should in particular be reflected, absorbed, diffracted, delayed and / or changed in another way that appears appropriate to a person skilled in the art. By "substantially perpendicular" is meant in particular perpendicular, with a maximum angular deviation of a vertical of ± 15 degrees. A "play area" is to be understood in particular an area in which the ball is normally moved during the course of the game. This allows the sensor unit with a particularly simple design sensor, in a particularly simple way to determine the shape and position of the ball.

In a development of the invention, it is proposed that the sensor has a detection means which is designed to determine a distance between sensor and ball, whereby a three-dimensional detection of at least one half of the ball can be achieved with a sensor matrix. By a "detection means" is meant in particular the part of the sensor which receives the energy to be sensed, e.g. an antenna in the case of a high-frequency sensor or a coil in the case of a magnetic-field sensor.

It is also proposed that the sensor unit has at least one transmitter, which is provided to emit a detectable by the sensor energy. A "energy detectable by the sensor" is to be understood in particular as meaning an energy which can be detected by the sensor and converted into information. The transmitter and the sensor can at least be partially integral or arranged on opposite sides of the detection area. As a result, a reliable detection of the ball can be achieved by the sensor.

Furthermore, it is proposed that the sensor unit has at least one transmitter matrix in which at least the transmitter is arranged. Preferably, the transmitter matrix has an equal number and arrangement of transmitters as the sensor array has sensors. The transmitter matrix limits the sensor detection area in the detection direction of the sensor. As a result, a particularly simple evaluation of the information detected by the sensor unit can be achieved.

It is further proposed that the sensor unit is provided to distinguish the ball from other objects due to at least one property of at least one material that the ball has. Preferably, the ball has a metallic material. Particularly advantageous is a metallic material with ferromagnetic properties. A "material" is to be understood in particular also an object introduced into the ball. A "property" should in particular also be understood as a technical property. The at least one material may, for example, be vapor-deposited in and / or on the ball, admixed with a material of the ball and / or incorporated as a layer into the ball. An "other object" is to be understood as meaning in particular a mainly non-metallic object such as a person and / or an object arranged in or around the playing field, such as a football goal and / or a net. This is a particularly simple and safe differentiation of the ball from other objects possible.

Furthermore, it is proposed that the ball recognition device has an arithmetic unit which is provided for interpreting a position of the ball detected by the sensor unit according to the rules of a ball sport. A "detected position" is to be understood in particular as meaning a position information of the ball generated by the arithmetic unit from the data of the sensor unit. As a result, the arithmetic unit can determine whether an interpreted position of the ball represents an event that influences a course of the game of ball sports.

In an advantageous embodiment of the invention, it is proposed that a computing unit is provided for comparing a form of the ball detected by the sensor unit with information about the ball. A "detected form" is understood in particular to mean a model of the ball generated by the arithmetic unit from the data of the sensor unit. As a result, the arithmetic unit can determine whether a detected object corresponds to the ball and thus differentiate the ball from other objects.

It is further proposed that an output device is provided to output a result of a comparison of a detected shape and / or an interpretation of a detected position, whereby the result of the comparison and / or the interpretation can be passed on to viewers directly and in a timely manner.

drawing

Further advantages emerge from the following description of the drawing. In the drawing, two embodiments of the invention are shown. The description and claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into meaningful further combinations.

Fig. 1

eine Frontalansicht eines Fußballtors mit zwei Sensor- und zwei Sendermatrizen,

Fig. 2

eine Draufsicht auf das Fußballtor,

Fig. 3

eine Detailansicht einer Sensormatrix und

Fig. 4

eine Draufsicht auf einen Tennisplatz.

Show it:

Fig. 1

a frontal view of a football goal with two sensor and two transmitter matrices,

Fig. 2

a top view of the football goal,

Fig. 3

a detailed view of a sensor matrix and

Fig. 4

a top view of a tennis court.

Description of the embodiments

The Figures 1 and 2 show a ball recognition device 10a having a sensor unit 12a. The sensor unit 12a is intended to detect a ball 14a in shape and position. Since in a ball sport, eg football, tennis, hockey or handball, often confusing game situations occur in which, for example, a player obscured a view of the ball 14a, the sensor unit 12a sensors 16a (see FIG. 3 ) intended to engage the ball 14a in a detection area 52a through a visible light shielding object 18a.

The sensor unit 12a has two sensor matrices 20a, 21a. As FIG. 3 By way of example, the sensors 16a are arranged in the sensor matrices 20a, 21a according to a Cartesian coordinate system. The first sensor matrix 20a extends in a playing field floor 54a along a goal line 56a between two goal posts 58a of a football goal 60a according to the standard DIN EN 748 and parallel to the playing field floor 54a. The sensor matrix 20a has a length 62a of 7.32 m and a width 28a of 0.24 m and is flush with the goal line 56a in the direction of a playing field 32a.

The sensors 16a arranged in the sensor matrices 20a, 21a are provided to detect an overlapping area 35a of a sensor detection area 36a and a volume of the ball 14a. The sensors 16a are provided to detect when a sensor detection area 36a and a volume of the ball 14a overlap. This is the case when the ball 14a is in the detection direction 38a of the sensor. The detection direction 38a is in the FIG. 3 as an arrow, facing the viewer. The sensors 16a require to detect the ball 14a that the ball 14a reflects or absorbs an energy provided to detect the ball 14a. This energy is provided by transmitter 44a. The sensor unit 12a has exactly as many transmitters 44a as sensors 16a. Are the sensors 16a and the transmitters 44a as in FIG FIG. 1, 2 and 3 As shown in different locations, the sensors 16a detect the ball 14a in which the sensors 16a detect that the ball 14a reflects and absorbs the energy. In this case, the energy received by the corresponding sensor 16a decreases. Are the transmitter 44a, as in the FIG. 4 shown, integral with the sensors 16a, the sensors 16a receive the energy reflected by the ball 14a. Thus, a received amount of energy increases.

The first sensor array 20a has, in a direction parallel to the gate line 56a, 24 rows 22a of the sensors 16a and, in a direction perpendicular to the gate line 56a, 732 rows 23a of the sensors 16a. The second sensor matrix 21a is generally constructed the same as the first sensor matrix 20a. The second sensor matrix 21a extends along one of the goalposts 58a perpendicular to the first sensor array 20a. It has a width 28a of 0.24 m and a height 64a of 2.44 m and is flush with the goal post 58a in the direction of the playing field 32a. The second sensor matrix 21a, not shown in detail, has 244 rows 23a from the sensors 16a in a direction perpendicular to the goal post 58a and 24 rows 22a from the sensors 16a in a direction parallel to the goal post 58a. The two sensor matrices 20a, 21a can detect a shape and a position of the ball 14a.

In this exemplary embodiment, the sensor unit 12a has two transmitter matrices 46a, 47a in which the transmitters 44a are arranged. The transmitter matrices 46a, 47a are arranged in the detection direction 38a of the sensors 16a. The first transmitter matrix 46a is disposed in a batten 66a of the flux ball port 60a, which is opposite the first sensor matrix 20a. The second transmitter matrix 47a is partially disposed within one of the goal posts 58a facing the second sensor array 21a. In each case one of the transmitters 44a is arranged opposite one of the sensors 16a.

The sensors 16a receive an energy emitted by the transmitters 44a.

The two sensor matrices 20a, 21a are thus designed to grasp the ball 14a in two directions of extent 24a of the sensor matrices 20a, 21a on a respective distance 26a which is just as large as a width 29a of a boundary line 30a of the playing field 32a, or more precisely Width 29a of the goal line 56a, and are larger than a diameter 34a of the ball 14a (see. FIG. 2 and 3 ).

In principle, it would also be possible to carry out the sensor matrices and the transmitter matrices in a single line, that is to say with a row of sensors or transmitters in each case. These sensor and transmitter matrices would also be arranged along the goal line or goal post and close with the goal line on a side facing away from the playing field with the goal line flush. The shape of the ball is determined in such sensor matrices from a time course. The shape can be determined particularly accurately if another sensor, not shown in detail, determines a speed of the ball. Alternatively, the diameter of the ball can be detected as a characteristic feature and from this the position of the ball can be determined from the passage of time. It is also conceivable that several sensor and transmitter matrices are arranged one behind the other parallel to the goal line.

In addition to the arrangements of the sensor matrices and transmitter matrices described in the exemplary embodiments, various arrangements, not shown, are conceivable. A person skilled in the art can meet requirements for accuracy and reliability the ball recognition device will decide which array of sensor and transmitter arrays and which type of sensors are ideally used. Furthermore, the arrangements can be transferred to all ball sports with at least one goal.

The ball 14a comprises a metallic ferromagnetic material. The metallic material, in this case iron, is provided so that the sensor 16a can reliably distinguish the ball 14a from other objects 18a. The metallic material is incorporated as a layer in the ball 14a. All objects 18a arranged in the immediate vicinity of the playing field 32a, such as the football goals 60a, corner flags, players and / or nets 76a, have ferromagnetic or metallic material only of a different order of magnitude as the ball has. It is also conceivable to use a technical object such as an RFID chip for a reliable distinction.

The ball recognition device 10a has a computing unit 48a. The computing unit 48a is provided for interpreting a position of the ball 14a detected by the sensor unit 12a according to the rules of a ball sport, in this case football. The computing unit 48a recognizes, for example, when the ball has completely crossed the goal line 56a. In this case, the computing unit 48a compares a form of the ball detected by the sensor unit 12a with stored information about the ball 14a. This prevents the arithmetic unit 48a from drawing on an item 18a other than the ball 14a for interpretation according to the rules of ball sports.

Furthermore, the ball recognition device 10a has an output device 50a. The output device 50a is provided to output a result of a comparison of the detected shape of the ball 14a and an interpretation of the detected position of the ball 14a. This is done by means of an optical and an acoustic output. The output device 50a is arranged so that the output is audible to all viewers. For optical output, a green lamp 68a and a red lamp 70a are provided, which are arranged on the output device 50a. Furthermore, it is conceivable to show on a display panel (not shown) a lettering and / or a graphic of the detected position of the ball 14a with respect to the goal line 56a or with respect to the soccer goal 60a. For an acoustic output, the ball recognition device 10a has a loudspeaker device (not shown).

As the ball 14a moves into the overlap area 35a of the ball recognizer 10a, the sensors 16a of the sensor arrays 20a, 21a detect that the ball 14a is in the detection area 52a. The computing unit 48a sequentially polls the sensors 16a of the sensor arrays 20a, 21a as to whether the ball 14a is in the detection direction 38a of the sensor 16a. It would also be conceivable for the computing unit 48a to query several sensors 16a at the same time. After the arithmetic unit 48a has interrogated the sensors 16a at least once, the arithmetic unit 48a calculates the shape and the position of the ball 14a in which it determines the outer contour. If the shape of the ball 14a agrees with a stored shape of the ball 14a, the arithmetic unit 48a checks whether the position of the ball 14a is in accordance with the rules of a ball sport represents an event that influences game play. In football, for example, this is the case when the ball 14a has completely crossed the goal line 56a. In this case, the output device 50a outputs the optical and the acoustic output. After the computing unit 48a has calculated the shape and location of the ball 14a, it again begins to interrogate the sensors 16a and repeats a described process.

In FIG. 4 a further embodiment of the invention is shown. To distinguish the embodiments, the letter a in the reference numerals of the embodiment in the FIGS. 1 to 3 by the letter b in the reference numerals of the embodiment in the FIG. 4 replaced. The following description is essentially limited to the differences from the embodiment in the FIGS. 1 to 3 , wherein with respect to the same components, features and functions on the description of the embodiment in the FIGS. 1 to 3 can be referenced.

FIG. 4 shows a tennis court 72b according to the rules of the International Tennis Federation (ITF), the sensor and transmitter matrices 20b, 46b along all boundary lines 30b has. The sensor and transmitter arrays 20b, 46b have a width 28b of 7 cm and a length corresponding to the boundary lines 30b below which they lie. The sensor and transmitter matrices 20b, 46b are made in one piece. The sensors 16 arranged in the sensor matrices 20b have a detection means 42b, which is designed to determine a distance between the sensor 16 and the ball 14. The tennis court has two posts 74b which span a net 76b. One of the posts 74b has a sensor array 20b and the other of the posts 74b has a transmitter matrix 46b.

reference numeral

10

Ball recognition device

12

sensor unit

14

ball

16

sensor

18

object

20

sensor matrix

21

sensor matrix

22

line

23

line

24

extension direction

26

route

28

width

29

width

30

boundary line

32

matchfield

34

diameter

35

overlap area

36

Sensor detection area

38

detection direction

40

matrix field

42

detection means

44

transmitter

46

transmitter matrix

47

transmitter matrix

48

computer unit

50

output device

52

detection range

54

Field soil

56

goal line

58

goalpost

60

football goal

62

length

64

height

66

bar

68

Lamp

70

Lamp

72

tennis court

74

post

76

network

Claims (14)

A ball recognition device comprising at least one sensor unit (12a, 12b) intended to detect a ball (14a, 14b) in shape and position,
characterized in that
the sensor unit (12a; 12b) has at least one sensor (16a; 16b) which is provided to at least partially detect the ball (14a; 14b) through an object (18a; 18b) shielding a visible light. Ball recognition device according to claim 1,
characterized in that
the sensor unit (12a, 12b) has at least one sensor matrix (20a, 21a, 20b) in which at least the sensor (16a, 16b) is arranged. Ball recognition device at least according to claim 2,
characterized in that
the sensor matrix (20a, 21a, 20b) has a plurality of sensors (16a, 16b) arranged in at least one row (22a). Ball recognition device at least according to claim 2,
characterized in that
the sensor matrix (20a, 21a, 20b) is designed to guide the ball (14a, 14b) in at least two directions of extension (24a) of the sensor matrix (20a, 21a, 20b) at least over a distance (26a) that corresponds to a width (28a). at least one boundary line (30a; 30b) of a playing field (32a; 32b) corresponds to detect. Ball recognition device at least according to claim 2,
characterized in that
the sensor matrix (20a, 21a, 20b) is configured to guide the ball (14a, 14b) in at least two directions of extension (24a) of the sensor matrix (20a, 21a, 20b) at least over a distance (26a) corresponding to a diameter (34a). of the ball (14a; 14b). Ball recognition device at least according to claim 2,
characterized in that
the sensor unit (12a, 12b) has at least two sensor matrices (20a, 21a, 20b) which are aligned and / or positioned differently. Ball recognition device at least according to claim 2,
characterized in that
the sensor (16a; 16b) is at least provided to detect an overlapping area (35a) between a sensor detection area (36a) and a volume of the ball (14a; 14b). Ball recognition device according to one of the preceding claims,
characterized in that
the sensor (16a; 16b) has detecting means (42a) adapted to determine a distance between the sensor (16a; 16b) and the ball (14a; 14b). Ball recognition device according to one of the preceding claims,
characterized in that
the sensor unit (12a) has at least one transmitter (44a) which is provided to emit an energy detectable by the sensor (16a; 16b). Ball recognition device at least according to claim 9,
characterized in that
the sensor unit (12a, 12b) has at least one transmitter matrix (46a, 47a, 46b) in which at least the transmitter (44a) is arranged. Ball recognition device according to one of the preceding claims,
characterized in that
the sensor unit (12a, 12b) is provided for differentiating the ball (14a, 14b) from other objects (18a, 18b) due to a material property of at least one material of the ball (14a, 14b). Ball recognition device according to one of the preceding claims,
marked by
a computing unit (48a, 48b) which is provided for interpreting a position of the ball (14a, 14b) detected by the sensor unit (12a, 12b) according to the rules of a ball sport. Ball recognition device according to one of the preceding claims,
marked by
a computing unit (48a; 48b) adapted to compare a shape of the ball (14a; 14b) detected by the sensor unit (12a; 12b) with information about the ball (14a; 14b). Ball recognition device, in particular according to claim 12 and / or 13,
marked by
an output device (50a; 50b) adapted to output a result of a comparison of a detected shape with information about the ball (14a; 14b) and / or an interpretation of a detected position according to game rules of a ball sport.

Images