KR102262886B1 - Haptic type sports recognition system using Infrared depth camera sensor - Google Patents

Abstract

The present invention relates to a tangible sports motion recognition system using a depth camera sensor, and more particularly, integrated recognition with a depth camera sensor that recognizes a ball or user's motion, trajectory, and trigger in a tangible ball sports system. If possible, the required configuration is simple, so it is easy to install and use, and after adjusting the position of the bat or the screen, horizontal and vertical calibration is performed through the depth camera sensor, so even if the bat and the screen are moved at any time, the calibration process is easy. It relates to a tactile sports motion recognition system using a sensor.
To this end, the present invention provides a batting table installed indoors or outdoors and arranged to be movable at a position where a user hits a ball; a screen facing the at-bat at a predetermined interval and installed to be movable; a beam projector installed on an upper side of the screen to irradiate image data to the screen to project image information on the screen; and an infrared depth camera sensor installed on one upper side of the screen to detect a user positioned at the bat and to track the user's motion and ball trajectory when the user hits the ball.
Here, the infrared depth camera sensor includes: a dot projector that irradiates dots as an object to be photographed; an infrared camera that reads a dot pattern irradiated through the dot projector and captures an infrared image to generate a video image and a depth image; It includes a control unit that receives image information captured from the infrared camera, performs calibration when the batting pad or the screen moves, and generates trigger recognition, user motion recognition, or ball trajectory tracking data.

Description

Haptic type sports recognition system using Infrared depth camera sensor

The present invention relates to a tangible sports recognition system using a depth camera sensor, and more particularly, in a tangible ball sports system, integrated recognition is possible with a depth camera sensor that recognizes a ball or user's motion, trajectory, and trigger recognition. The required configuration is simple, so it is easy to install and use, and after adjusting the position of the plate at bat or the screen position, horizontal and vertical calibration is performed through the depth camera sensor, so even if the bat and screen are frequently moved, the calibration process can be easily performed. It relates to a tangible sports recognition system using

A tangible ball sports game such as screen baseball, screen soccer, or screen baseball is a virtual tangible game that is similar to an actual baseball, soccer or foot baseball game while seeing the projected image by hitting a ball on the screen on which the image is projected. it means.

Specifically, in the case of screen soccer, the user hits the ball toward the screen at the plate located opposite the screen, and whether the hit ball is a goal is determined according to the actual progress direction and the action of the defender or goalkeeper.

Such a tangible ball sports system has limited space and does not have a separate defender. Accordingly, when various sensors sense the speed and direction of the hit ball, the trajectory of the hit ball is automatically calculated using this, and whether or not a goal is scored is determined according to the calculated trajectory, so that the soccer game proceeds.

As the most important configuration of the tangible ball sports system, a trigger sensor that recognizes the starting point of hitting the ball by a user entering the bat, a ball trajectory sensor that recognizes the trajectory of the hit ball, and a motion recognition sensor that recognizes the user's motion is provided, when a trigger signal is recognized through the trigger sensor, the ball trajectory sensor, and the motion recognition sensor, the ball trajectory is calculated, and the result data is provided to the user along with the user's motion recognition information.

However, as various sensors must be provided, a lot of inconvenience occurs in installation and use, and when the batting pad or screen is moved, it takes time to set up and increases the difficulty of work as each sensor must be calibrated by an expert. there is

(Patent Document 1) Korean Patent KR 10-1548511B1

(Patent Document 2) Korean Patent KR 10-1505931B1

The present invention has been devised to solve the above problems, and as it is possible to integrate recognition of a ball or user's motion recognition, trajectory expression and trigger recognition with a depth camera sensor, which is one type of trigger sensor, ball trajectory in a tangible ball sports system. It is easy to install and use even without multiple components such as sensors and motion recognition sensors, and after adjusting the position of the bat or screen, horizontal and vertical calibration is performed through the depth camera sensor, making the calibration process simple even if the bat and screen are moved at any time. An object of the present invention is to provide a tangible sports recognition system using a depth camera sensor.

The present invention has the following features to achieve the above object.

The present invention provides a batting table installed indoors or outdoors and arranged to be movable at a position where a user strikes a ball; a screen facing the at-bat at a predetermined interval and installed to be movable; a beam projector installed on an upper side of the screen to project image information onto the screen by irradiating image data to the screen; and an infrared depth camera sensor installed on one upper side of the screen to detect a user positioned at the bat and to track the user's motion and ball trajectory when the user hits the ball.

Here, the infrared depth camera sensor includes: a dot projector that irradiates dots as an object to be photographed; an infrared camera that reads a dot pattern irradiated through the dot projector and captures an infrared image to generate a video image and a depth image; It includes a control unit that receives image information captured from the infrared camera, performs calibration when the bat or the screen moves, and generates trigger recognition, user motion recognition, or ball trajectory tracking data.

The control unit includes a calibration performing unit that performs horizontal and vertical calibration of the infrared camera according to a setting or a user's request, and receives image information photographed from the infrared camera after the calibration is performed by the calibration performing unit to determine the position at bat A trigger signal generator that determines whether the ball is positioned as a reference and tracks a change in the depth value of the ball area to determine whether a trigger signal is generated, and when a trigger signal is generated by the trigger signal generator, the image is taken from an infrared camera It includes a ball trajectory tracking unit that receives image information and generates two-dimensional coordinate trajectory data of a ball from an image image, generates three-dimensional combined coordinate trajectory data through a depth image, and then extracts three-dimensional moving direction and acceleration information of the ball .

In addition, the calibration performing unit sequentially performs horizontal and vertical calibration according to the setting or user's request, and the horizontal calibration is performed by irradiating the image taken from the infrared camera in the batting direction with a beam projector to determine whether the bat is located in the horizontal center of the screen. is provided to determine whether the horizontal position of the turn at bat is moved. In the vertical calibration, the image taken from the infrared camera in the direction of the plate at bat is re-irradiated with a beam projector after the horizontal calibration is performed to determine whether the result of the horizontal calibration is located on the vertical line. to determine whether to re-execute the horizontal calibration.

In addition, the trigger signal generator compares the color image of the area corresponding to the ball shape extracted from the depth image with the color image of the ball shape extracted from the depth image based on the position at bat where the calibration is completed, and determines whether the ball is located, and determines that the ball is located. If it is determined, the ball area is determined and the change in the depth value is tracked, and when a change more than the set value occurs, a trigger signal is generated.

In addition, the present invention provides a striker running speed measuring sensor that is installed to be spaced apart from the bat 10 by a predetermined distance and measures the running speed of the striker who moves to the striker running area indicated as a certain area on the floor after hitting the ball and moves in place; It may further include a defender running speed measuring sensor provided at a position opposite to the striker running speed measuring sensor and measuring the running speed of the defender who moves to the defender running area displayed as a certain area on the floor after hitting the ball to measure the running speed of the defender who travels in place. .

In addition, the beam projector 30 irradiates the image data to the screen according to the ball trajectory information received from the infrared depth camera sensor 40 and the traveling speed information of the striker and defender received from the striker and defender traveling speed measurement sensor. can

According to the present invention, since trigger recognition and ball trajectory tracking are possible with only one infrared camera sensor without needing various sensors to perform a tangible sports game, installation and operation are simple, and the inconvenience of performing calibration for each sensor The box is removed and the plate and screen can be moved easily as the calibration process is quick and easy.

In addition, the present invention can induce a more realistic game progress by measuring the actual running speed of the striker and the defender after hitting and reflecting it in the game progress information so that the user can actively participate in the game.

1 is a diagram showing a schematic configuration of a sports recognition system according to an embodiment of the present invention.
2 is a block diagram illustrating the internal configuration of an infrared depth camera sensor of a sports recognition system according to an embodiment of the present invention.
3 is a flowchart illustrating a calibration process according to an embodiment of the present invention.
4 is a flowchart illustrating a trigger recognition process according to an embodiment of the present invention.
5 is a photograph showing a trigger recognition state according to an embodiment of the present invention.
6 is a flowchart illustrating a ball trajectory tracking process according to an embodiment of the present invention.
7 is a graph illustrating an example of tracking a ball trajectory according to FIG. 6 .
8 is a photograph showing a ball trajectory and motion recognition according to an embodiment of the present invention.

In order to explain the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, preferred embodiments of the present invention are exemplified below and will be described with reference to them.

First, the terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention, and the singular expression may include a plural expression unless the context clearly indicates otherwise. Also in the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other It is to be understood that this does not preclude the possibility of addition or presence of features or numbers, steps, operations, components, parts, or combinations thereof.

In describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a diagram showing a schematic configuration of a sports recognition system according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an internal configuration of an infrared depth camera sensor of the sports recognition system according to an embodiment of the present invention.

Referring to the drawings, the sports recognition system 100 according to the present invention is largely installed indoors or outdoors and includes a seat at bat 10 arranged to be movable at a position where a user strikes a ball, and a predetermined interval from the seat at bat 10. A screen 20 that is spaced apart from each other and installed to be movable, and a beam projector installed on an upper side of the screen 20 to irradiate image data to the screen 20 so that image information is projected on the screen 20 ( 30) and an infrared depth camera sensor 40 installed on the upper side of the screen 20 to detect a user positioned on the bat 10, and to track the user's motion and ball trajectory when the user hits the ball , and a user driving speed measuring sensor 50 for measuring the driving speed of a person (attacker) and a defender hitting the ball after hitting.

In the tangible sports applied to the present invention, the user hits the ball at the plate with respect to the virtual image displayed on the screen 20, recognizes the trajectory of the ball and the user's motion motion, so that the game can be played according to the rules of the sport. If it is a sport, it may be applied to any sport, and for example, screen soccer, screen baseball, screen baseball, and the like will correspond.

In the case of screen-footed baseball, when the user places the ball on the ground at bat and hits the ball with his foot, a virtual defender is displayed on the screen 20. If the ball passes between defenders, it is judged as a hit. That is, the trajectory of the ball measured at the time of hitting, the running speed of the defender who tracks the ball, and the running speed of the attacker who runs on the base are set, so it is determined according to the settings among out, hit, double, triple, and home run. .

On the other hand, in the present invention, a more realistic game progress can be made by measuring the running speeds of the striker and the defender after the actual hitting is made and reflecting this in the actual game, which will be described later.

The content of specific content can be set differently depending on the tangible sports event applied as described above, and the present invention is for tracking the trigger recognition at the time the user hits the ball, the user's motion recognition and the tracking of the ball trajectory being hit. The recognition system allows the game to proceed with detailed settings for each sport according to this recognition data information.

The turn at bat 10 applied to the tangible sports recognition system 100 of the present invention is a reference point where the ball is placed, and the infrared depth camera sensor 40 analyzes the image captured by the corresponding turn at bat 10 to recognize the trigger, the user motion recognition and ball trajectory tracking are performed.

The turn at bat 10 and the screen 20 to be described later according to the present invention are configured to be movable, and can be moved as needed, and the infrared depth camera sensor 40 can be calibrated according to the user's request. have.

In the case of the existing tangible sports recognition system, as a trigger sensor, a ball trajectory tracking sensor, a user motion recognition sensor, etc. are provided in various ways, when the screen 20 or the bat 10 moves, calibration must be performed for each sensor, so the calibration process Due to this complexity and the problem that may cause an increase in working time and a decrease in system accuracy depending on the skill of the operator, it generally had to be configured as a fixed type rather than a mobile type.

However, in the case of the present invention, since trigger recognition, user motion recognition, and ball trajectory tracking are possible with only one type of infrared depth camera sensor 40, the calibration process is quick and easy, so that it can be configured as a movable type.

On the other hand, the screen 20 provides image information so that the user can enjoy tangible sports, and a separate support bar or support frame is installed on the screen 20 so that a beam projector 30 and an infrared depth camera sensor to be described later ( 40) is installed on the upper side.

In addition, the screen 20 according to the present invention is configured to be movable like the turn at bat 10 described above, and a moving roller or the like may be installed on the lower side of the screen 20 to move easily if necessary.

In addition, the beam projector 30 irradiates and provides a content image to the user on the screen 20 to perform tangible sports, an image storage unit 31 storing the content image, an infrared depth camera sensor 40 and the user The driving speed measuring sensor 50 and the wireless communication unit 32 for wirelessly transmitting and receiving data, the ball trajectory information measured from the infrared depth camera sensor 40 and the driving of the striker and the defender measured from the user driving speed measuring sensor 50 An image output unit 32 for outputting content images stored in the image storage unit 31 by determining game progress information such as outs and hits according to the speed information is provided.

The beam projector 30 may be mounted on the screen 20 according to an embodiment of the present invention and configured to irradiate the content image with the screen 20. In this case, the ultra-short focus type beam projector 30 is installed. will have to apply

Of course, the beam projector 30 can be positioned at the rear of the turn at bat and irradiated by being mounted on the ceiling. However, when the beam projector 30 is positioned at the rear of the turn at bat, it is difficult for the user positioned at the bat to smoothly irradiate the content image and the images are mounted on the ceiling. In this case, the inconvenience of having to move and mount the screen together when moving it occurs.

Meanwhile, the infrared depth camera sensor 40 is installed on one side of the upper side of the screen 20 to detect a user positioned at the bat 10 and to track the user's motion and ball trajectory when the user hits the ball. The infrared depth camera sensor 40 includes a dot projector 41 that irradiates a dot as an object to be photographed, and a dot pattern irradiated through the dot projector 41 by reading an infrared image and capturing an image image and The infrared camera 42 that generates a depth image, receives image information captured from the infrared camera 42, performs calibration when the bat 10 or the screen 20 moves, triggers recognition, and the user's It is composed of a controller 43 that generates motion recognition or ball trajectory tracking data, and a wireless communication unit (not shown) that transmits the ball trajectory data measured by the controller 43 to the beam projector 30 .

Here, the dot projector 41 irradiates dots on the object to be photographed so that the infrared camera 42 captures the dots. Accordingly, the position of the projected dot changes in real time according to the distance between the user, the bat 10, and the ball to be photographed, and the infrared camera 42 captures an infrared image including the dot information to obtain a video image and depth. An image is generated and transmitted to the controller 43 .

In addition, the control unit 43 performs calibration, trigger recognition, user motion recognition, and ball trajectory tracking through the image information received from the infrared camera 42. A calibration performing unit 43a that performs horizontal and vertical calibration of the infrared camera 42, and after the calibration is performed by the calibration performing unit 43a, receives image information photographed from the infrared camera 42 and takes a turn at bat A trigger signal generating unit 43b that determines whether the ball is positioned based on the position and tracking a change in the depth value of the ball area to determine whether a trigger signal is generated, and the trigger signal generating unit 43b In the case of occurrence, the image information photographed from the infrared camera 42 is received, the two-dimensional coordinate trajectory data of the ball is generated from the image image, the three-dimensional summed coordinate trajectory data is generated through the depth image, and then the three-dimensional moving direction of the ball and and a ball trajectory tracking unit 43c for extracting acceleration information.

On the other hand, according to another embodiment of the present invention, a user driving speed measuring sensor 50 is further provided to measure the driving speed of a person (attacker) and a defender hitting the ball after hitting the ball for more realistic game progress can do. The user driving speed measuring sensor 50 is composed of a striker driving speed measuring sensor installed to be spaced apart from the bat 10 by a predetermined distance, and a defender driving speed measuring sensor provided at a position opposite to the attacking driving speed measuring sensor, The striker running speed measuring sensor moves to the striker running area displayed as a certain area on the floor after hitting the ball and measures the running speed of the striker who drives in place for a set period of time (for example, 3 to 5 seconds), and the defender's running speed The measuring sensor also moves to the defender's driving area displayed as a certain area on the floor after hitting the ball and measures the running speed of the defender who drives in place. The user driving speed measurement sensor 50 is a driving speed class to which the measured driving speed of the user is set (for example, 5-level grade-very fast (1st stage), fast (2nd stage), normal (3rd stage), slow ( Step 4), very slow (step 5), it is determined which grade is the driving speed grade information and transmitted through the wireless communication module to the beam projector 30. As the user driving speed measuring sensor 50, the above-described depth camera sensor is used. It can be used, a dot projector for irradiating dots to the user, an infrared camera for reading a dot pattern irradiated through the dot projector and taking an infrared image to generate a video image and a depth image, and an image taken from the infrared camera and a controller configured to receive information and generate movement data of the user.

In this way, the beam projector 30 wirelessly connected to the infrared depth camera sensor 40 and the user traveling speed measuring sensor 50 outputs an image to the screen 20 together with the set virtual defenders and strikers and the received ball trajectory information. According to the ball trajectory information and the driving speed information of the striker and defender, the game progress information such as whether the striker is an out or a hit, and how many bases if a hit is determined. The game progress information is judged by comparing the ball trajectory information received after hitting based on the ball trajectory information set in advance and the driving speed of the defenders and attackers and the actual driving skill of the defenders and strikers.

Therefore, according to the present invention, by measuring the actual running speed of the striker and the defender after hitting and reflecting it in the game progress information, more realistic game progress can be made and the user can be induced to actively participate in the game.

3 is a flowchart illustrating a calibration process according to an embodiment of the present invention.

Referring to the drawings, the calibration performing unit 43a of the control unit 43 according to an embodiment of the present invention performs a horizontal calibration and a vertical calibration process as shown. First, the horizontal calibration is performed by the turn at bat 10 and the screen ( 20) can be configured to be performed when the user requests or when it is determined that calibration is required by a separate sensing means.

In addition, it may be configured to proceed for a predetermined time according to the setting or to perform calibration according to on/off of the infrared depth camera sensor 40 or a separate setting condition.

Accordingly, when performing the calibration (S10), the calibration performing unit 43a first turns on the infrared camera 42 of the infrared depth camera sensor 40, and transmits the shooting information to the beam projector 30 by transmitting the screen 20. so that the shooting information is projected on the (S20).

Accordingly, it is determined whether the turn at bat 10 is located in the center of the screen of the screen 20 (S30), and if it is not located, the user is requested to move the horizontal position of the turn at bat (S31) and the turn at bat 10 is located in the center of the screen (S31). It carries out the process of determining whether this location is located.

Through this, when the turn at bat 10 is located in the center, the distance to the turn at bat is determined by mapping the preset size of the turn at bat 10 and the depth value on the depth image transmitted from the infrared camera 42 (S40), and the hitting position, left The unit distance right unit distance screen mapping is performed (S50).

In this way, the distance value with the bat 10 is generated, and when the screen mapping of the hitting position, the left unit distance and the right unit distance is completed, vertical calibration is performed (S60). The vertical calibration is performed by the infrared camera 42 in the same way as the horizontal calibration. The captured image information is projected on the screen 20 (S70), and it is determined whether the turn at bat is located on the vertical line of the result of the horizontal calibration (S80).

If the batting stone is not located on the vertical line of the horizontal calibration result value according to such determination, the horizontal calibration process is re-performed (S81). If it is located, the calibration process is completed by mapping the upper unit distance of the hitting position (S90).

4 is a flowchart illustrating a trigger recognition process according to an embodiment of the present invention, and FIG. 5 is a photograph showing a trigger recognition process according to an embodiment of the present invention.

Referring to the drawings, the trigger signal generating unit 43b of the control unit 43 according to the present invention includes a color image of an area corresponding to a ball shape extracted from a depth image based on the position at bat where the calibration is completed and a pre-stored color of the ball shape. It is configured to determine whether the ball is located by comparing the images, and when it is determined that the ball is located, determine the ball area and track the change in the depth value to generate a trigger signal when a change more than a set value occurs.

Specifically, looking at the execution process, first, the ball shape on the depth image is extracted based on the position at bat where the calibration is completed (S100), and the rear image and the front image based on the position of the extracted ball shape are removed using distance information (S110) .

Accordingly, by comparing the color image of the region corresponding to the extracted ball shape with the previously stored ball image (S120), it is determined whether it is within a set value range that can be determined as a ball (S130).

If it is not within the set value range, the ball shape is continuously extracted, and if it is within the set value range, the ball area is determined and the change in the depth value of the corresponding area is tracked (S140).

When the change in the depth value exceeds a preset threshold, it is determined as a trigger to generate a trigger signal, and the ball trajectory and user motion change are tracked.

The ball trajectory and user motion change are performed by the ball trajectory tracking unit 43c when a trigger signal is generated from the trigger signal generating unit 43b.

Of course, according to the type of sports game, data may be generated on a change in user motion in sports requiring recognition of user motion, and may be omitted in sports that do not need it.

6 is a flowchart illustrating a ball trajectory tracking process according to an embodiment of the present invention, FIG. 7 is a graph showing an example of tracing a ball trajectory according to FIG. 6, and FIG. 8 is a ball according to an embodiment of the present invention This is a picture showing the trajectory and motion recognition.

Referring to the drawings, the ball trajectory tracking unit 43c of the control unit 43 according to an embodiment of the present invention is an image taken from the infrared camera 42 when a trigger signal is generated by the trigger signal generating unit 43b. It is provided to receive information, generate 2D coordinate trajectory data of a ball from an image image, generate 3D combined coordinate trajectory data through a depth image, and then extract 3D moving direction and acceleration information of the ball.

As shown in FIG. 7 , the ball trajectory tracking unit 43c first receives an image image and a depth image from the infrared camera 42 and generates two-dimensional trajectory data of the ball through the image image (S200), and the corresponding two-dimensional The 3D trajectory data is generated by collecting the depth information of the depth image with the trajectory data (S210).

The launch angle and acceleration are extracted using the unit time from the derived three-dimensional trajectory data, and the ballistic equation is constructed through this (S220).

As described above, in the experiential sports recognition system according to the present invention, as trigger recognition, user motion recognition, and ball trajectory tracking are possible through the infrared depth camera sensor 40, the calibration process can be performed quickly and easily, and The mobility of the screen becomes easier.

As such, the present invention has been described with reference to one embodiment shown in the drawings, but this is merely exemplary, and those of ordinary skill in the art will appreciate that various modifications and equivalent other embodiments are possible therefrom. will understand

Accordingly, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

10: at bat 20: screen
30: beam projector 40: infrared depth camera sensor
41: dot projector 42: infrared camera
43: control unit 100: tangible sports recognition system

Claims (7)

a batting table 10 installed indoors or outdoors and arranged to be movable at a position where a user strikes the ball;
a screen (20) installed to face the batting table (10) at a predetermined distance and to be movable;
a beam projector 30 installed on one upper side of the screen 20 to project image information onto the screen 20 by irradiating image data to the screen 20;
A dot projector installed on one upper side of the screen 20 to detect a user positioned on the bat 10 and to irradiate dots with a photographing object so as to track the user's motion and ball trajectory when the user hits the ball. 41, and an infrared camera 42 that reads the dot pattern irradiated through the dot projector 41 and captures an infrared image to generate a video image and a depth image, and the image taken from the infrared camera 42 An infrared depth camera sensor including a controller 43 that receives information, performs calibration when the bat 10 or screen 20 moves, and generates trigger recognition, user motion recognition, or ball trajectory tracking data ( 40); including;
The control unit 43,
A calibration performing unit 43a for performing horizontal calibration and vertical calibration of the infrared camera 42 according to setting or a user's request;
After the calibration is performed by the calibration performing unit 43a, image information photographed from the infrared camera 42 is received to determine whether the ball is positioned based on the position of the turn at bat, and the change in the depth value of the ball area is tracked to trigger the trigger. A trigger signal generating unit 43b for determining whether a signal is generated, and
When a trigger signal is generated by the trigger signal generator 43b, the image information photographed from the infrared camera 42 is received, the two-dimensional coordinate trajectory data of the ball is generated from the image image, and the three-dimensional summed coordinates are obtained through the depth image. A tangible sports recognition system using an infrared depth camera sensor, characterized in that it includes a ball trajectory tracking unit (43c) that generates trajectory data and then extracts the three-dimensional moving direction and acceleration information of the ball. delete delete According to claim 1,
The calibration performing unit 43a is
Horizontal calibration and vertical calibration are sequentially performed according to the setting or user's request. The horizontal calibration is performed by irradiating the image taken in the direction of the bat from the infrared camera 42 with the beam projector 30 to determine whether the bat is located in the horizontal center of the screen. In the vertical calibration, the image taken from the infrared camera 42 in the direction of the plate at bat is re-irradiated with the beam projector 30 after the horizontal calibration is performed to determine whether the horizontal position of the turn at bat is moved. A tangible sports recognition system using an infrared depth camera sensor, characterized in that it is determined whether to re-execute horizontal calibration by providing whether the bat is positioned on the bat. According to claim 1,
The trigger signal generator 43b
By comparing the color image of the area corresponding to the ball shape extracted from the depth image and the pre-stored color image of the ball shape based on the position at bat where the calibration has been completed, it is determined whether the ball is located, and if it is determined that the ball is located, the ball area is determined and a tangible sports recognition system using an infrared depth camera sensor, characterized in that by tracking a change in a depth value and generating a trigger signal when a change more than a set value occurs. According to claim 1,
A striker running speed measuring sensor installed to be spaced apart from the bat 10 by a predetermined distance and measuring the running speed of the striker who moves to the striker's running area displayed as a certain area on the floor after hitting the ball and drives in place; and the striker's running speed measurement Infrared depth camera, characterized in that it further comprises a defender traveling speed measuring sensor that is provided at a position opposite to the sensor and measures the traveling speed of the defender who moves to the defender traveling area displayed as a predetermined area on the floor after hitting the ball and moves in place Sensor-based tangible sports recognition system. 7. The method of claim 6,
The beam projector 30 irradiates the image data on the screen according to the ball trajectory information received from the infrared depth camera sensor 40 and the traveling speed information of the striker and defender received from the striker and defender travel speed measurement sensor. A tangible sports recognition system using an infrared depth camera sensor.

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