KR102146358B1 - Sensing method for sensing movement of ball and sensing device using the same - Google Patents

Abstract

The present invention is to solve the problems of the prior art as described above, in a method in which a client receives and processes an image acquired about the motion of a ball from a camera device in a virtual sports simulation system, the camera device has a wide field of view. By acquiring only a part of the area that needs data processing in the actual shooting area and transmitting it to the client, it is possible to transmit the image data at a high transmission frame rate by acquiring data at a low capacity while increasing the resolution of the image acquired under the data transmission rate constraints. It is to provide a sensing method for the motion of the ball and a sensing device using the same.

Description

A sensing method for the motion of a ball and a sensing device using it {SENSING METHOD FOR SENSING MOVEMENT OF BALL AND SENSING DEVICE USING THE SAME}

The present invention relates to a sensing device for sensing motion of a ball when a player plays with a real ball in a virtual sports simulation system for sports such as tennis, squash, badminton, table tennis, golf, baseball, and a sensing method of the sensing device. About.

Recently, a virtual simulation system for a sport where it is very limited to enjoy a sport directly on a field in the case of golf and baseball, for example, has been widely popularized.

Furthermore, a virtual sports simulation system for net sports in which both players exchange balls with each other with nets such as tennis, squash, and badminton in between, has emerged, allowing users to easily enjoy various sports in a popular cultural space. Is being formed.

In such a virtual sports simulation, the game is basically performed while the player strikes the ball. In order to simulate the image of the ball hit by the player, a sensing device capable of effectively sensing the moving ball is required.

In the past, light-sensing methods such as infrared sensors or laser sensors were often used. However, this is an important aspect of the player's play in that a structure equipped with multiple light sensors that irradiate and receive light must be installed on the player's play space. There is a limit to creating a limit and realizing realistic play, and there is a problem that the sensor structure is frequently damaged during the play process, and above all, the accuracy of sensing is very low.

Due to the limitations and problems of the light sensing method, recently, an image sensing type sensing device that acquires an image of a moving ball and calculates sensing information of a moving ball through analysis of the acquired image has been widely used.

This image sensing method has the advantage of obtaining highly accurate sensing information because it analyzes the image and obtains the sensing information. However, since it must process each image of several tens to hundreds of frames per second, a camera device having a very high data processing capability and There was a problem that a data processing device should be provided.

However, since the sensing device of the image sensing method needs to shoot an image with a camera (a plurality of cameras in the case of a stereo method) at an angle of view that can capture the player's play situation, it must be installed at the same position as the ceiling in the space where the player is playing. The client system that processes data for the virtual sports simulation is installed outside the above-described play space, so the camera and the client system are physically separated from each other.

In this way, when the camera and the client system are physically separated from each other, a plurality of image data acquired by the camera is processed by a processing device provided in the camera itself, or the plurality of image data is transmitted to the client system to be processed by the client system. Should be handled.

If the camera is equipped with an image data processing device, the image data acquired by the camera is immediately processed and the processed information is transmitted to the client system, which has the advantage of enabling fast sensing processing, but high data provided in the client system There is a big problem that significantly increases the cost of the sensing device because a data processing unit having another high data processing capability must be provided in the camera apart from the control unit having processing capability.

In the case of a method in which a camera acquires an image and processes the acquired image data in a client system, the above problems can be solved, but the image data acquired by the camera must be transmitted to the client system in real time. While the capacity of the camera is large, the bandwidth of data transmission from the camera to the client is limited, and the transmission frame rate of the data that can be transmitted is limited, so the transmission frame rate mentioned above does not match the shooting frame rate that the camera shoots. There is a problem that cannot be done.

If the location where the player hits is fixed, such as golf or baseball, the camera with a narrow angle of view can be used even if the resolution of the video is increased, so there is room for reducing the capacity of the video data, but net sports such as tennis In this case, it is essential to consider the situation where the ball is exchanged quickly, such as a rally, and because the player moves dynamically and strikes the ball from various unpredictable positions, the angle of view of the camera to detect the ball hit by the player is possible. Since it must be as wide as possible and the resolution of the captured image must be increased accordingly, there is a problem in that the amount of data that can be transmitted from the camera to the client per second is inevitably reduced or an expensive sensing device must be used.

As conventional prior art documents related to the present invention, Japanese Patent No. 5701707, Japanese Patent No. 553060, Japanese Unexamined Patent No. 2017-005388 and the like are disclosed.

The present invention is to solve the problems of the prior art as described above, in a method in which a client receives and processes an image acquired about the motion of a ball from a camera device in a virtual sports simulation system, the camera device has a wide field of view. By acquiring only a part of the area that needs data processing in the actual shooting area and transmitting it to the client, it is possible to transmit the image data at a high transmission frame rate by acquiring data at a low capacity while increasing the resolution of the image acquired under the data transmission rate constraints. It is to provide a sensing method for the motion of the ball and a sensing device using the same.

A method for sensing ball motion according to an embodiment of the present invention is a method for sensing ball motion in which a client receives and processes an image acquired about motion of a ball from a camera device in a virtual sports simulation system, wherein the camera controller Setting a division setting area as an expected area in which a ball will be found in the entire field of view of the camera device; Obtaining, by the camera device, an area corresponding to a division setting area set by the camera control unit as an actual shooting area; Transmitting information on the location and size of the divided setting area, which is the actual photographing area with respect to the entire field of view, and the acquired image to the client; And detecting a ball on the transmitted image by the client and calculating sensing information including position information of the ball on the entire field of view by using information on the location or size of the segmentation setting area.

In addition, preferably, the step of setting the divided setting region comprises setting a photographing offset, which is a distance from a reference point position of the entire field of view of the camera device to a reference point position of the divided setting region, as the position of the divided setting region, And setting the height and width of the division setting area as the size of the division setting area.

In addition, preferably, the step of setting the divided setting area includes: a position of a ball machine used in the virtual sports simulation system, a direction and speed of a ball launched by the ball machine, and striking a ball launched from the ball machine. The ball is found in the entire field of view of the camera device using at least one of the player's play mode, the player's expected hit type according to the play progress, the movement direction of the ball detected when the ball is triggered, and the player's characteristic information. It is characterized in that the area to be set is predicted and set as the divided setting area.

In addition, preferably, the direction and speed of the ball fired by the ball machine used in the virtual sports simulation system, the play mode of the player hitting the ball fired from the ball machine, the expected hit type of the player according to the progress of play, It characterized in that it further comprises the step of adjusting or changing and setting the position and size of the entire field of view of the preset divided setting area by using at least one of the movement direction information of the ball detected when the ball is triggered.

In addition, preferably, the step of pre-setting the divided setting area may include control information on at least one of the direction, speed, and pitch of the ball launched by the ball machine according to the progress of the virtual sports simulation performed by the client. Predicting an area in which a ball will be found in the entire field of view of the camera device, a position determined according to the prediction and a preset size, or a position determined according to the prediction and a direction of the ball emitted by the ball machine, And presetting the divided setting region as an actual photographing region with a size determined according to at least one of speed and pitch.

In addition, preferably, as a play form according to a virtual sports simulation performed by the client, various play modes are provided to induce the player to hit a specific batted ball, and the step of pre-setting the division setting area comprises: And pre-setting information on the location and size of the divided setting area so as to correspond to the corresponding play mode for each of the play modes.

On the other hand, in the virtual sports simulation system according to an embodiment of the present invention, a sensing device for motion of a ball includes: a camera device for acquiring an image including the ball; And controlling the camera device to acquire an image by setting a division setting area as an expected area in which a ball will be found in the entire field of view of the camera apparatus, and using the area corresponding to the set division setting area as an actual shooting area, Including a camera control unit for transmitting information on the location and size of the segmentation setting area, which is the actual shooting area, to a client, and the image corresponding to the segmentation setting area by the client and the segmentation The sensing information including the position information of the ball on the entire field of view can be calculated using information on the location or size of the set area.

In addition, preferably, the camera device includes a lens module forming an angle of view, an image sensor selectively acquiring an image of an image formed through the lens module, and an image acquired by the image sensor. And a grabber to collect, and before the grabber collects the image by the camera controller, the image corresponding to the divided setting area set by the image sensor is acquired as an actual photographed image.

In addition, preferably, the camera control unit sets the location and size information of the divided setting area using information previously set in itself and information received from the client in connection with the client, or It characterized in that it is configured to set by adjusting or changing the position and size.

In addition, preferably, the camera control unit sets a shooting offset, which is a distance from a reference point position of the entire field of view of the camera device to a reference point position of the divided setting area, as the position of the divided setting area, and By setting the height and width of the divided setting area as a size, the image sensor of the camera device controls to acquire an image corresponding to the set shooting offset and the height and width of the divided setting area in the entire field of view. .

A method for sensing motion of a ball and a sensing device using the same according to the present invention is a method in which a client receives and processes an image acquired about the motion of a ball from a camera device in a virtual sports simulation system. By acquiring only a part of the area that needs data processing in the actual shooting area and transmitting it to the client, it is possible to transmit the image data at a high transmission frame rate by acquiring data at a low capacity while increasing the resolution of the image acquired under the data transmission rate constraints. In addition, it has a remarkable effect in that there is no need to perform separate processing such as removing noise from the image since it transmits only a partial region divided in the entire field of view and analyzes only the transmitted image data.

1 is a diagram illustrating an example of implementing a screen tennis system as a virtual tennis simulation system to which a sensing device according to an embodiment of the present invention is applied.
FIG. 2 is a block diagram showing the configuration of the virtual tennis simulation system shown in FIG. 1.
3 is a flowchart illustrating a method for sensing ball motion according to an embodiment of the present invention.
4 is a view showing an image acquired and transmitted by the camera device under control of a camera controller in the sensing device for ball motion according to an embodiment of the present invention, that is, an actual photographing area corresponding to a divided setting area.

A detailed description of a sensing method for motion of a ball and a sensing device using the same according to the present invention will be described with reference to the drawings.

The sensing device and the sensing method according to the present invention include a virtual simulation system (virtual simulation system) for a sport in which each player shoots a shot, such as golf, as well as a sport in which a separately provided ball machine fires a ball toward the player. In a simulation environment, a virtual player and a real player on a video exchange balls, and in reality, a ball machine that fires a ball toward the player and a ball exchange between players) can be used.

A typical example of the sport as described above is tennis, and FIG. 1 shows an example in which a screen tennis system is implemented as a virtual tennis simulation system to which a sensing device according to an embodiment of the present invention is applied.

In addition, in FIG. 2, the configuration of the virtual tennis simulation system shown in FIG. 1 is shown as a block diagram.

Hereinafter, a sensing device and a sensing method according to an embodiment of the present invention will be described as an example applied to a virtual tennis simulation system, but the same applies to all virtual sports simulation systems that are conducted in a way of striking a ball as well as a virtual tennis simulation system. Can be applied.

1 and the like shows an example in which the sensing device according to the present invention is applied to a virtual tennis simulation system, but the sensing device and its sensing method according to the present invention are not only tennis, but also a virtual simulation system for net sports such as squash, badminton, and table tennis. Can all be applied to. Here, the term "ball" shall be defined as including tennis balls, squash balls, table tennis courts, etc., as well as cases where the shape is different from the ball, such as a shuttlecock.

As shown in Figure 1, the virtual tennis simulation system to which the sensing device according to an embodiment of the present invention is applied is a player space unit 30 (here, the net 32 may or may not be installed). In addition, a screen 20 is provided in front of the player P, and the player P can hit the player P playing tennis with a racket behind the screen 20. A ball machine 400 that provides a ball is installed, and an image output unit 420 that projects an image onto the screen 20 on one side of the space and a player P collects image data about hitting the ball. The camera device 100 may be installed and configured.

The camera device 100 is installed on the ceiling side above the player P's head in order to effectively detect and analyze the motion of the ball according to the player P's play with a wide angle of view to look down the player space 30 It is preferable to be configured to have an angle of view.

Devices such as the ball machine 400, the camera device 100, and the image output unit 420 are connected to the client 300, and the client 300 is connected to the camera device 100 from the camera device 100. The image data captured and collected is received and processed through a communication cable (wr), and image content for virtual tennis practice and game of the user is generated and transmitted to the image output unit 420, and the image output unit ( 420 projects the transmitted image content onto the screen 20. In addition, the client 300 controls ball firing parameters such as the ball firing of the ball machine 400 and the direction and speed of the ball being fired.

The ball machine 100 is installed on the back side of the screen 20 to fire the ball 1 to a pre-calculated position on the court bottom 30 through the ball launch hole 22 formed in the screen 20. It is configured, and as shown in FIG. 1, the ball machine 100 is preferably configured to enable firing angle control and firing speed control so as to fire balls 1 of various speeds at various positions.

And the ball launched from the ball machine 100 is supplied to the player (P) through the ball launch hole 22 formed on the screen 20, the ball launch hole 22 is approximately the middle of the screen (20) It can be provided in a position of the degree. Of course, it may be installed at any position on the screen 20, but in implementing the receive (of the opponent player) for the balls of various trajectories, a position that is approximately intermediate or slightly lower than the intermediate position is preferable.

The image projected on the screen 20 includes content that allows the player P to enjoy a virtual tennis play through the image, and a virtual environment for the opposite part of the play area where the user plays It may include a content image for the other player, etc.

In the virtual simulation video projected on the screen, the virtual opponent player strikes a virtual ball according to a preset artificial intelligence, as if the opponent plays in a real tennis match, and the hit virtual ball moves on the image and fires the ball. As the video of the movement of the virtual ball is ended by being connected to the hole 22, the ball machine 400 fires the actual ball 1 toward the player P through the ball launch hole 22, and the player (P) is to calculate the ball motion model for the ball by analyzing the image captured by the camera device 100 by the client 300 when hitting the launched ball 1 toward the screen 20, and the ball motion model Based on the image, a simulation image in which a virtual ball moves toward a virtual player is implemented.

When the virtual player strikes the virtual ball, an image of the movement of the virtual ball is realized on the image again, and the ball 1 is transferred to the player P through the ball launch hole 22 by the ball machine 100. It is fed back to the side, and in this way the player and the virtual player in the video can exchange balls with each other (actually, the player and the ball machine exchange balls).

Meanwhile, with reference to FIG. 2, a control system of components constituting the virtual tennis simulation system as shown in FIG. 1 will be described.

As shown in FIG. 2, the virtual tennis simulation system includes a client 300, a ball machine 400, and a camera device 100 and a camera controller 200 as a sensing device according to an embodiment of the present invention. Can be.

The client 300 may include a data storage unit 320, an image processing unit 330, a control unit 310, and the like, and an image processed by the image processing unit 330 is screened through an image output unit. It can be configured to be projected onto 20).

The data storage unit 320 stores data for processing tennis practice or game background images, virtual player images, and simulation images of a hit ball performed in the virtual tennis simulation system. The data storage unit 320 may be configured to serve as a storage temporarily storing data transmitted from a server (not shown).

The image processing unit 330 includes a background image such as an image of a virtual tennis court, an image of a player, a referee, an audience, etc., an image of a virtual opponent's player hitting the ball, a simulation image of the trajectory of the ball hit by the player, etc. Various simulation-related images are generated (in the case of sports other than tennis, an image of a corresponding sport and a virtual player image can be generated).

On the other hand, the camera device 100 of the sensing device according to an embodiment of the present invention continuously photographs and collects an image including a ball played by a player having a shooting range of a predetermined range, that is, an angle of view (FOV). .

The camera device 100 includes a lens module (not shown) forming an angle of view, an image sensor 110 for selectively acquiring an image of an image formed through the lens module or a partial area, and the image sensor 110 ) May be configured to include a grabber 120 for collecting the image acquired by.

The image of a plurality of frames photographed by the image sensor 110 and collected by the grabber 120 is transmitted to the client 300, and the client 300 stores it in the data storage unit 320 while the controller 310 ) To analyze the image and calculate sensing information on the motion of the ball, such as detecting a ball in the image through the analysis and calculating the position information of the detected ball.

The camera device 100 may be configured to have a wide angle of view including the entire play space in which the player plays or at least the main range in which the ball can be detected at all times, and thus acquires an image of the entire wide angle of view. In this case, it has already been described above that there is a problem that the transmission frame rate of image transmission to the client 300 is inevitably lowered.

Accordingly, in the sensing device according to an embodiment of the present invention, the camera control unit 200 controls the camera device 100 to obtain an image by using only a partial area of the entire field of view as an actual shooting area. ) Is characterized in that the transmission frame rate is improved by significantly reducing the capacity of the image data transmitted to the client 300.

A more detailed description of the control of the camera device by the camera control unit 200 will be described later.

Meanwhile, the camera device 100 includes two or more cameras to capture images according to respective shooting ranges at different positions at the same angle of view, and has a configuration in which two cameras are linked to each other in a stereoscopic manner. It is desirable. At this time, each camera is configured to include an image sensor and a grabber.

In this way, two or more cameras are interlocked in a stereo manner, so that the image captured by each camera (each image is a two-dimensional image) is transmitted and analyzed by the client 300 to obtain 3D coordinate data for the ball. have.

Meanwhile, the control unit 310 of the client 300 analyzes a 2D image acquired and transmitted by one of a plurality of cameras according to the stereo method of the camera device 100 to determine the ball emitted from the ball machine 400. By specifying and specifying the ball hit by the player in the 2D image, a trigger is generated to calculate sensing information on the moving ball.

The calculation of the sensing information for the moving ball includes calculating a ball motion model for a ball that moves by being hit in a three-dimensional space, and a 2D image acquired by each of a plurality of cameras of the camera device 100 is The ball motion model is calculated using the calculated 3D coordinate information of the ball being hit and moving by using the calculated 3D coordinate information of the ball.

Here, the motion model of the ball means that it is expressed as an equation of motion relating to the trajectory of the ball being hit and moving in a three-dimensional space, and as shown in FIG. 1, tennis practice or game is performed by the system according to the present invention. The motion model of the ball may be determined according to the defined coordinate system by defining space as a three-dimensional coordinate system of the x-axis, y-axis and z-axis.

That is, the motion model of the ball may be defined as a motion equation in the x-axis direction, a motion equation in the y-axis direction, and a motion equation in the z-axis direction.

The motion model of the ball as described above does not calculate the initial motion condition when the ball is hit, but the motion equation of the ball that is calculated based on the motion equation in the direction of each coordinate axis in the space where the actual player plays, that is, the actual three-dimensional space. As an exercise model, it is to find a model in which the actual ball moves.

By calculating such a motion model of the ball, it is possible to provide more diverse and more information than the case of simply sensing and calculating the initial motion condition of the ball.In particular, the reality and the virtual world frequently intersect and become more closely related, such as in a virtual tennis simulation. It is a more suitable sensing method when it needs to be connected.

For example, since the above calculation of the ball motion model is a ball motion model in a three-dimensional space in which the actual play takes place, it is possible to easily calculate the position at which the ball actually reaches the screen (to detect that the ball actually reaches the screen. Rather, even if the actual ball does not reach the screen, if the ball motion model is calculated, the screen reach position can be calculated using this), and the virtual ball from that position after the actual ball reaches the screen through the calculation of the screen reach position. By implementing this simulated image, the reality and the virtual world can be naturally connected.

However, in such a process, the transmission of the image from the camera device 100 to the client 300 must be made quickly so that the client 300 can quickly calculate the ball motion model, and the transmitted image must also have a high resolution. Exercise models can be calculated.

To this end, the camera control unit 200 sets a segmentation setting area as an expected area where a ball will be found in the entire field of view of the camera device 100, and uses the area corresponding to the set segmentation setting area as an actual shooting area. The camera device may be controlled to acquire the image, and may transmit information on the location and size of the divided setting area, which is the actual shooting area, and the acquired image to the client 300 with respect to the entire field of view.

Accordingly, the client 300 can calculate sensing information including the position information of the ball on the entire field of view by using the image corresponding to the division setting area and information on the location or size of the division setting area. .

The camera control unit 200 includes information set in advance in itself and information transmitted from the client 300 by interlocking with the client 300 (e.g., information on a simulated state or a situation of a virtual game by simulation). ) May be used to set the location and size information of the divided setting area, or by adjusting or changing the location and size of the preset divided setting area.

The camera control unit 200 may be a component included in the camera device 100 or may be a component separately provided from the camera device 100, and the control unit 310 of the client 300 It may be configured to perform a function.

This will be described in more detail with reference to FIGS. 3 and 4.

3 is a flowchart illustrating a method for sensing ball motion according to an embodiment of the present invention, and FIG. 4 is an image acquired and transmitted by the camera device under the control of the camera controller, that is, segmentation setting It shows the actual shooting area corresponding to the area, and Fig. 4(a) and (b) shows the case where each of the two stereo cameras acquires the actual shooting area corresponding to the divided setting area from the entire field of view. Is shown.

In the two cameras, each divided setting area is set by the camera control unit for an area in the same three-dimensional space to take pictures.

As shown in the flowcharts shown in FIGS. 3 and 4, first, the entire field of view (FOV) of the camera device is preset through calibration of the camera device, and as the client starts the virtual sports simulation ( S300), the camera control unit sets the divided setting areas 112 and 114 as an expected area in which the ball will be found in the entire field of view (FOV) of the camera device (S100).

The divided setting areas 112 and 114 are areas corresponding to a part of the entire field of view (FOV), and information previously set in the camera control unit and information received from the client in connection with the client (e.g., simulated state or simulation The position and size information of the division setting areas 112 and 114 for the entire field of view (FOV) is set by using (information on the situation of the virtual game).

In accordance with the setting of the division setting areas 112 and 114 for the entire field of view (FOV) of the camera control unit, the camera device uses the area corresponding to the set division setting areas 112 and 114 as the actual shooting area. Acquire (S200).

That is, the image sensor of the camera device does not generate an image as an image of the entire view by the angle of view, but acquires an image by using only a portion of the divided setting area, which is a partial area, as an actual shooting area.

The camera device transmits the information on the location and size of the divided setting areas 112 and 114 and the acquired image for the actual shooting area to the client (S210), so that a higher resolution than when transmitting the image for the entire field of view. Video can be transmitted at a higher transmission frame rate.

For example, the camera device and the client communicate with the LAN communication-based GigE under the limit of 1 Gbps. In this case, when the camera device transmits images for the entire field of view, the higher the resolution, the lower the transmission frame rate and the client There is a problem that it is impossible to calculate the sensing information.As described above, the camera device transmits the acquired image by using the part corresponding to the divided setting area in the entire field of view as the actual shooting area under the control of the camera controller. As a result, the camera device can transmit a high-resolution image at a higher transmission frame rate, thereby completely solving such a problem.

It should be noted here that the client does not analyze the image of the segmentation setting area itself as a full area image, but analyzes the image of the segmentation setting area as a full area image corresponding to the entire field of view.

That is, as shown in FIG. 4, the camera device transmits an image of a portion corresponding to the divided setting areas 112 and 114, which are actual shooting areas, but the client divides it into the non-data areas 113 and 115 It is analyzed as an image of the entire field of view (FOV) including the setting areas 112 and 114. Since the actual image data exists only in the divided setting regions 112 and 114, there is no need for image analysis for the non-data regions 113 and 115.

However, since the analysis is performed as an image of the entire field of view, the client receives not only the image of the divided setting areas 112 and 114, but also the position and size information of the entire field of view (FOV) of the divided setting areas 112 and 114. Then, image analysis is performed using this (S310).

As shown in FIG. 4, the camera control unit is the position of the divided setting area, and the reference point position Ps1 of the divided setting areas 112 and 114 from the reference point positions Po1 and Po2 of the entire field of view (FOV) of the camera device. , Ps2) shooting offsets (X1off and Y1off, X2off and Y2off) are set, respectively, and the height and width of the division setting areas 112 and 114 (h1 and 21, h2 and w2) as the size of the division setting area. ) Can be set.

That is, when (a) of FIG. 4 is the image of the first camera, the camera control unit is the distance from the reference point position Po1 of the entire field of view (FOV) to the reference point position Ps1 of the division setting area 112. By setting the shooting offset (x-direction offset (X1off) and y-direction offset (Y1off)), and by setting the height and width (h1 and w1) of the segmentation setting area 112, the area that the first camera actually shoots is set. Area 112 is set.

In addition, when (b) of FIG. 4 is an image of the second camera, the camera control unit takes a picture, which is the distance from the reference point position Po2 of the entire field of view (FOV) to the reference point position Ps2 of the division setting area 114. By setting the offset (x-direction offset (X2off) and y-direction offset (Y2off)), and by setting the height and width (h2 and w2) of the segmentation setting area 114, the divided setting area, which is the area actually photographed by the second camera Set (114).

The division setting area 112 of the first camera and the division setting area 114 of the second camera correspond to an area in the same three-dimensional space.

When the client receives the image and the above-described information and analyzes it, the ball Ob is first detected on the transmitted image (the image corresponding to the segmentation setting area) (S320).

The ball can be detected through an image processing technique using a difference image using a reference image of another frame.

Then, the client calculates sensing information including location information of the ball Ob on the entire field of view (FOV) by using the information on the location or size of the divided setting area (S330).

4, the position of the detected ball Ob on the images 112 and 114 is (x1, y1) for the image of the first camera and (x2, y2) for the image of the second camera. Since it is not the position of the ball in the entire field of view, the actual position of the ball is {(X1off+x1), (Y1off+y1)} for the first camera image, and the xy coordinate for the second camera image. It becomes {(X2off+x2), (Y2off+y2)}.

When the ball position coordinates are obtained in the manner described above, the coordinates of the ball are obtained in the entire field of view, and by using this, the client calculates the position coordinates of the ball in the entire field of view, which is the full area of the camera device. In this way, position coordinates of a plurality of balls are obtained, and a motion model of a ball can be calculated based on this (S330).

When the client calculates the sensing information as described above, the client may perform a simulation on the virtual sports image based on the calculated sensing information (S340).

Meanwhile, the camera control unit receives information about the simulation situation from the client (S110), and determines whether to change the setting of the divided setting area based on a preset item or information received from the client (S120).

That is, the area in which the ball will be found is predicted, and based on this, a division setting area is set or a preset division setting area is adjusted or changed.

Here, the camera control unit includes the position of the ball machine, the direction and speed of the ball fired by the ball machine, the play mode of the player hitting the ball fired from the ball machine, the expected hit type of the player according to the play progress, and the ball By using at least one of the movement direction of the ball and the player's characteristic information detected at the time of triggering for the target, the area in which the ball is to be found in the entire field of view may be predicted to set the divided setting area, or the preset area may be adjusted or changed.

As shown in Fig. 1, since the position of the ball machine is fixed, it is possible to easily predict the position where the ball launched from the ball machine will be found, and the control unit of the client sets the direction and speed of the ball to be launched on the ball machine. From that, the camera control unit can easily predict whether a ball can be found when setting the segmentation setting area at any location and at what size.

Since the player strikes the ball fired from the ball machine, the area where the ball hit by the player will be found can be easily predicted from the position of the ball machine and the direction and position of the ball fired by the ball machine. According to the progress of the virtual sports simulation, the area where the ball will be found in the entire field of view of the camera device is predicted from the control information on at least one of the direction, speed, and pitch of the ball launched by the ball machine, and is determined according to the prediction. The divided setting area can be set to a location and a preset size, or a location determined according to the prediction, and a size determined according to at least one of the direction, speed, and pitch of the ball launched by the ball machine, or by changing a preset area. There is.

In addition, if the virtual sports simulation system provides various play modes, the location and size of the division setting area may be set or changed in consideration of the characteristics of each play mode and the expected type of hitting of the player.

For example, in the case of a virtual tennis simulation system, in the sub mode in which the player serves, the batted ball is formed high and the direction of the served ball is standardized, so the division setting area can be set based on this, and when the player volley or stroke In the volley mode or stroke mode, such as in the case of performing, since the ball movement characteristics are standardized to some extent, it is possible to set the division setting area accordingly or change the setting based on this information.

In addition, a division setting area may be set in consideration of the movement direction of the ball detected when the ball is triggered. Also, whether the player is left-handed or right-handed may be input in advance before playing, and a division setting area may be set based on this.

As described above, the camera control unit can reset the preset divided setting area by considering various pre-set items to suit the situation (S130), and according to the active and variable setting of the divided setting area, the camera device Even if only some images (images corresponding to the segmentation setting area) are captured and delivered to the client, not the image corresponding to the entire field of view, the client can obtain the same information as the information obtained by obtaining and analyzing the entire field of view. will be.

In accordance with the camera control unit determining whether there is a change in the setting of the divided setting area, the camera device also determines whether the actual shooting area has been changed (S220), and if there is a change, the area corresponding to the changed divided setting area is converted to the actual shooting area. Thus, the image is acquired (S230), and information on the location and size of the divided setting area with the changed setting and the acquired image are transmitted to the client together (S240).

As described above, the client can detect the ball and calculate the position information in the entire field of view using the transmitted image and information as described above, and calculate the sensing information using the same and apply it to the simulation.

At this time, the client does not need to perform image processing on the non-data areas 113 and 114 as shown in FIGS. 4A and 4B, so the time and resources required to remove noise from the image There is also a feature that can significantly reduce

That is, according to the sensing method according to the present invention, since the image obtained by setting the segmentation setting region, which is a partial region of the entire field of view, and transmitting the image obtained by using it as the actual photographing region, high resolution image acquisition and high transmission frame rate transmission of image data Not only is this possible, but it has a great advantage in that it can significantly reduce the time and resources required to remove noise in image processing.

100: camera device, 110: image sensor
120: grabber, 200: camera control unit
300: client, 310: control unit
320: data storage unit, 330: image processing unit
400: ball machine

Claims (10)

As a ball motion sensing method for a client to receive and process an image acquired about the motion of a ball from a camera device in a virtual sports simulation system,
The camera control unit sets a segmentation setting area as a predicted area in which a ball will be found in the entire field of view of the camera device, and a reference point position of the segmentation setting area from the reference point position of the entire view angle area of the camera device as the position of the segmentation setting area Setting a photographing offset that is a distance to, and setting a height and width of the divided setting area as the size of the divided setting area;
Obtaining, by the camera device, an area corresponding to a division setting area set by the camera control unit as an actual shooting area;
The photographing offset information as the position of the divided setting area, which is the actual shooting area with respect to the entire field of view, information on the height and width as the size of the divided setting area, and the image corresponding to the acquired divided setting area, Transmitting to the client; And
The client detects a ball on the transmitted image, and analyzes the image of the entire field of view including the non-data area and the segmentation setting area using information on the location and size of the segmentation setting area. Calculating sensing information including location information;
Sensing method of ball motion comprising a. delete The method of claim 1, wherein the setting of the division setting area comprises:
The position of the ball machine used in the virtual sports simulation system, the direction and speed of the ball fired by the ball machine, the play mode of the player hitting the ball fired from the ball machine, and the expected hit type of the player according to the progress of play , Using at least one of the movement direction information of the ball detected when the ball launched by the ball machine or the ball hit by the player is triggered, the area where the ball will be found in the entire field of view of the camera device is predicted, and the Ball motion sensing method, characterized in that set as a divided setting area. The method of claim 1,
The direction and speed of the ball fired by the ball machine used in the virtual sports simulation system, the play mode of the player hitting the ball fired from the ball machine, the predicted type of hitting of the player according to the play progress, and the ball machine fired Adjusting or changing the position and size of the entire field of view of a preset division setting area using at least one of the movement direction information of the ball detected when a ball or the ball hit by the player is triggered Ball motion sensing method, characterized in that it further comprises. The method of claim 1, wherein the setting of the division setting area comprises:
Predicting the area where the ball will be found in the entire field of view of the camera device from control information on at least one of the direction, speed, and pitch of the ball launched by the ball machine according to the progress of the virtual sports simulation performed by the client Step and,
The divided setting area is actually a photographing area with a position determined according to the prediction and a preset size, or a position determined according to the prediction and a size determined according to at least one of a direction, speed, and pitch of the ball emitted by the ball machine. Ball motion sensing method comprising the step of setting as. The method of claim 1,
As a play form according to a virtual sports simulation conducted by the client, various play modes are provided to induce the player to hit a specific batted ball,
The step of setting the division setting area,
And pre-setting information on the location and size of the divided setting area for each of the play modes to correspond to the corresponding play mode. As a sensing device for ball movement in a virtual sports simulation system,
A camera device that acquires an image including the ball; And
A segmentation setting area is set as an expected area where a ball will be found in the entire field of view of the camera device, and the distance from the reference point position of the entire field of view of the camera device to the reference point position of the segmentation setting area as the position of the segmentation setting area Set a photographing offset, and set the height and width of the division setting area as the size of the division setting area,
Controlling the camera device to acquire an image using an area corresponding to the set divided setting area as an actual shooting area,
The shooting offset information as the position of the divided setting area, which is the actual shooting area with respect to the entire field of view, information on the height and width as the size of the divided setting area, and the image corresponding to the acquired divided setting area Including a camera control unit to transmit to,
Ball motion allowing the client to calculate sensing information including position information of the ball on the entire field of view using the image corresponding to the divided setting area and information on the location or size of the divided setting area Sensing device. The method of claim 7, wherein the camera device,
A lens module forming an angle of view,
An image sensor that selectively acquires an image of all or a part of the image formed through the lens module,
It includes a grabber for collecting the image acquired by the image sensor,
The motion sensing apparatus of a ball, characterized in that before the grabber collects the image by the camera control unit, the image corresponding to the segmentation setting area set by the image sensor is acquired as an actual photographed image. The method of claim 7, wherein the camera control unit,
To set the location and size information of the partition setting area using information previously set in itself and the information received from the client in connection with the client, or by adjusting or changing the location and size of the preset partition setting area Sensing device for motion of the ball, characterized in that configured. delete

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