CN111841035B - Ball tracking toy and ball tracking method and device thereof - Google Patents
Ball tracking toy and ball tracking method and device thereof Download PDFInfo
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- CN111841035B CN111841035B CN201910364065.7A CN201910364065A CN111841035B CN 111841035 B CN111841035 B CN 111841035B CN 201910364065 A CN201910364065 A CN 201910364065A CN 111841035 B CN111841035 B CN 111841035B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/30—Direction-indicators
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H2200/00—Computerized interactive toys, e.g. dolls
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Abstract
A ball tracking method of a ball tracking toy, wherein an infrared light source for emitting a predetermined wavelength is arranged on the ball tracking toy, and a reflective material layer is covered on the surface of a tracked small ball, the ball tracking method comprises the following steps: acquiring an image through an infrared camera, and determining the brightness of the acquired image; determining a first area with the brightness of the image being larger than a preset brightness threshold value; if the first area is larger than a preset area threshold value, determining the size of the small ball through contour detection; if the first area is smaller than or equal to a preset area threshold value, calculating the size of the small ball according to the shape of the first area; the relative orientation of the pellets is calculated based on the determined size of the pellets. The method for calculating the size of the small ball corresponding to the scene is automatically selected according to the highlight area formed by the reflective small ball, so that the size of the small ball is calculated more accurately, and the method is favorable for improving the identification distance and the identification precision of the small ball.
Description
Technical Field
The application belongs to the field of artificial intelligence, and particularly relates to a ball tracking toy and a ball tracking method and device thereof.
Background
The ball tracking toy is an intelligent electronic product which is automatically tracked by a toy car according to the position of a ball. Ball tracking toys generally locate the ball by mounting a tracking instrument, including a camera or other sensor, on the toy vehicle. At present, when a small ball is tracked, the following two modes are generally adopted:
the first method is to install a camera on the toy car, identify and track the ball by a pure visual method, and then estimate the distance and the orientation between the ball and the toy car by the radius of the ball. On the toy car, the computing capability of the computing unit is greatly limited, effective and complex visual algorithms are difficult to operate, such as a deep neural network and other methods, and the effect of tracking the small ball is easily influenced by the background, light rays and the distance from the camera, so that the reliability is low.
The second is to add a magnet to the ball being tracked and then place a compass inside the toy car. Therefore, within a certain distance, the toy car can always look for the direction of the small ball along the direction of the compass, and then the small ball is identified by a visual method to control the distance between the small ball and the small ball. However, when the ball rolls slightly farther, the magnetic attraction force felt by the compass is very small and the tracking distance is limited.
Disclosure of Invention
In view of this, embodiments of the present application provide a ball tracking toy, and a ball tracking method and device thereof, so as to solve the problems in the prior art that due to limited computing capability, the effect of tracking a small ball is easily affected by the background, light, and distance from a camera, so that the reliability is not high, and the tracking distance is limited.
A first aspect of an embodiment of the present application provides a ball tracking method for a ball tracking toy, the ball tracking toy being provided with an infrared light source for emitting a predetermined wavelength, a tracked small ball being covered with a reflective material layer, the ball tracking method including:
acquiring an image through an infrared camera, and determining the brightness of the acquired image;
determining a first area with the brightness of the image being larger than a preset brightness threshold value;
if the first area is larger than a preset area threshold value, determining the size of the small ball through contour detection;
if the first area is smaller than or equal to a preset area threshold value, calculating the size of the small ball according to the shape of the first area;
the relative orientation of the pellets is calculated based on the determined size of the pellets.
With reference to the first aspect, in a first possible implementation manner of the first aspect, if the first area is smaller than or equal to a preset area threshold, the step of calculating the size of the small ball according to the shape of the first area includes:
calculating the similarity between the appearance of the first area and the appearance of the small ball;
selecting a first area with the highest similarity with the shape of the small ball as an area where the small ball is located;
and calculating the size of the small ball according to the cambered surface of the first area.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, before the step of calculating the size of the small ball according to the arc surface of the first area, the method further includes:
and performing noise filtering on the first area by adopting a Kalman filter.
With reference to the first aspect, in a third possible implementation manner of the first aspect, if the first area is larger than a preset area threshold, the step of determining the size of the small ball through contour detection includes:
determining the contour line included in the first area;
determining the small ball contour in the first area according to the similarity between the contour line and the small ball contour;
calculating the size of the small ball according to the determined outline of the small ball.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the wavelength of the infrared light source is greater than the wavelength of the indoor light source.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the light-reflecting material of the tracked small ball is light-reflecting powder, the light-reflecting powder is adhered to the surface of the small ball through an adhesive layer coated on the surface of the small ball, and the surface of the light-reflecting powder is fixed through a plastic thin layer.
A second aspect of the embodiments of the present application provides a ball tracking device for a ball tracking toy, the ball tracking toy is provided with an infrared light source for emitting a predetermined wavelength, a tracked small ball is covered with a reflective material layer, the ball tracking device includes:
the image acquisition unit is used for acquiring images through the infrared camera and determining the brightness of the acquired images;
the brightness comparison unit is used for determining a first area of which the brightness of the image is greater than a preset brightness threshold value according to the preset brightness threshold value;
a first size calculation unit for determining the size of the small ball through contour detection if the first area is larger than a preset area threshold;
a second size calculation unit for calculating the size of the small ball according to the shape of the first region if the first region is less than or equal to a preset area threshold;
and the small ball orientation determining unit is used for calculating the relative orientation of the small ball according to the determined size of the small ball.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the second size calculating unit includes:
the similarity operator unit is used for calculating the similarity between the appearance of the first area and the appearance of the small ball;
a small ball area determining subunit, configured to select a first area with the highest similarity to the shape of the small ball as an area where the small ball is located;
and the size calculating subunit is used for calculating the size of the small ball according to the cambered surface of the first area.
A third aspect of embodiments of the present application provides a ball tracking toy comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the ball tracking method of the ball tracking toy according to any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the ball tracking method of the ball tracking toy according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: the infrared light source is arranged on the ball tracking toy, the surface of the tracked small ball is covered with the reflective material layer, when the infrared camera collects images, the area where the small ball is located is presented as a highlight image, if the highlight area is larger than an area threshold value, the sunlight in a room is too strong, the size of the small ball is determined through general contour detection, if the highlight area is smaller than the area threshold value, the size of the small ball is determined according to the determined shape of the area, and then the relative direction of the small ball is further calculated according to the size of the small ball. According to the method and the device, the method for calculating the size of the small ball corresponding to the scene can be automatically selected according to the highlight area formed by the small light-reflecting ball, so that the size of the small ball is calculated more accurately, and the method and the device are favorable for improving the recognition distance and the recognition precision of the small ball.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a method for implementing a ball tracking method of a ball tracking toy according to an embodiment of the present application;
FIG. 2 is a schematic view of a process for manufacturing pellets according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of an implementation of a method for calculating a size of a small ball according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating an implementation of another method for calculating the size of a small ball according to an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of a ball tracking device of a ball tracking toy according to an embodiment of the present application;
fig. 6 is a schematic view of a ball tracking toy according to embodiments of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic view of an implementation process of a ball tracking method of a ball tracking toy according to an embodiment of the present application, in which an infrared light source for emitting a predetermined wavelength is disposed on the ball tracking toy, and a reflective material layer is coated on a surface of a tracked small ball, the ball tracking method is described in detail as follows:
in step S101, an image is captured by an infrared camera, and the brightness of the captured image is determined;
specifically, the ball tracking method of the ball playing and tracking toy is mainly applicable to indoor scenes. Because the fluorescent powder of the indoor general fluorescent lamp adopts the fluorescent powder with three wavelengths, the emitted light is generally combined into white light by three narrow spectrums of three primary light blue (452nm), green (543nm) and red (611 nm). Therefore, the infrared light source may be another spectrum different from the spectrum of the three primary lights, for example, an infrared light source with a wavelength of 850nm or 940nm, and the infrared camera may be captured easily by the infrared light source with the wavelength.
The tracked small ball can be provided with a reflective material layer on the surface of the small ball so as to be more convenient for long-distance tracking, so that when the small ball is positioned at a longer distance from a toy car (a device for tracking the small ball in the ball tracking toy), the image presented by the reflection of the toy car can still be effectively acquired.
The infrared camera can be arranged right in front of the toy trolley, and the toy trolley can move forwards conveniently according to the tracked small balls. The infrared light source can be infrared LED lamp pearls arranged around the camera.
The application the surface of pellet covers there is reflecting material, reflecting material can be reflection of light powder. The process flow of covering the surface of the pellet with the reflective powder can be as shown in fig. 2, and includes:
in step S201, a glue layer is coated on the surface of the tracked pellet;
the glue layer can be steel glue, and a layer of steel glue can be coated on the surface of the tracked ball in a smearing mode.
In step S202, reflecting powder is adhered to the surface of the small ball with the adhesive layer;
the small balls with the glue layers can be placed in the reflective powder to roll, so that the reflective powder is uniformly adhered to the surfaces of the small balls.
In step S203, the pellets adhered with the reflective powder are fixed by a plastic layer.
The small ball adhered with the reflective powder can be fixed by plastic, so that the reflective powder can be reliably kept on the surface of the small ball.
In step S102, according to a preset brightness threshold, determining a first region in which the brightness of the image is greater than the brightness threshold;
after the brightness of the image is obtained, the brightness value of each pixel point in the collected image can be compared with a preset brightness threshold, and binarization processing can be performed on the pixels in the image according to the comparison result to obtain a first region formed by the pixel points of which the brightness is greater than the preset brightness threshold. It should be understood that the first area may be one, and in different scenarios, the first area may also include a plurality of areas.
In step S103, if the first area is larger than a preset area threshold, determining the size of the small ball through contour detection;
after determining one or more first areas, a confidence level determination needs to be performed on the first areas. In order to effectively adapt to the situation that other infrared light rays do not exist indoors and other light rays are included indoors, the area of the first area is compared and judged, the area of the first area is compared with a preset area threshold value, and different small ball size calculation modes are determined according to the comparison result.
The size of the small ball in the present application refers to the size of the small ball in the image. Due to the principle of imaging of the size of the small ball in the image, the direction of the small ball relative to the toy car can be calculated according to the size of the small ball in the image and by combining the size of the real size of the small ball. In addition, the actual size of the pellets in this application is predetermined.
The predicted area threshold value can be set according to the current position of the small ball and is larger than the area of the image occupied by the small ball collected by the toy car when the distance between the small ball and the toy car is larger than the current distance between the small ball and the toy car. For example, the area threshold may be set to a larger value when the ball is positioned closer to the toy vehicle, and the area threshold may be set to a smaller value when the ball is positioned farther from the toy vehicle. The distance between the small ball and the trolley can be determined according to the initial tracking distance.
The step of determining the size of the small ball through contour detection if the first area is larger than the preset area threshold may be as shown in fig. 3, and includes:
in step S301, a contour line included in the first region is determined;
the first area is larger than the preset area threshold value, which indicates that the current image includes other highlight rays except the small ball, and possibly sunlight or interference rays of other infrared light sources.
In step S302, determining a small sphere contour in the first region according to the similarity between the contour line and the small sphere contour;
the contour extraction is performed on the acquired image, and the image can be segmented based on gray scale, color, texture and the like to obtain the contour included in the image. And matching the plurality of outlines with the outline of the small ball to determine the outline of the small ball in the image.
In step S303, the size of the bead is calculated based on the determined bead profile.
After the outline of the small ball is determined, the size of the small ball can be calculated according to the outline to obtain the size of the small ball, and the orientation of the small ball relative to the toy car is determined subsequently.
In step S104, if the first area is smaller than or equal to a preset area threshold, calculating the size of the small ball according to the shape of the first area;
if the first area is smaller than or equal to the area threshold, which indicates that there is no interference from other infrared rays (such as sunlight) in the current scene, the size of the small sphere may be calculated according to the shape of the first area, which may be specifically as shown in fig. 4, including:
in step S401, calculating a similarity between the outer shape of the first region and the outer shape of the pellet;
since the area of the first region is smaller than or equal to the area threshold, the current scene may be considered to be free from interference of other infrared light sources, and all or part of the small ball image is included in the image. The small ball recognition can be directly carried out according to the shape of the first area, namely, the similarity between the shape of the first area and the shape of the small ball is calculated.
In step S402, selecting a first region having the highest similarity with the shape of the pellet as a region where the pellet is located;
when the image includes a plurality of first regions, the similarity between the outer shape of each first region and the outer shape of the small ball may be calculated, and the first region with the highest similarity may be selected as the region where the small ball is located.
In step S403, the size of the small ball is calculated according to the arc surface of the first area.
Of course, before this step, a step of filtering the image may be further included, for example, filtering a noise image in the image through an extended kalman filter, so as to obtain a more accurate sphere surface, which is beneficial to obtain a more accurate sphere size.
After the area where the small ball is located is determined, the size of the small ball can be calculated according to the cambered surface of the first area, so that the relative orientation of the small ball can be conveniently judged subsequently.
In step S105, the relative orientation of the ball is calculated from the determined size of the ball.
According to the position of the small ball in the image, the direction angle of the small ball relative to the right front of the trolley can be correspondingly determined. For example, when the camera is arranged right in front of the toy car, the direction angle of the small ball relative to the toy car can be determined according to the angle of the small ball deviating from the center in the image. According to the standard size of the small ball, the distance between the small ball and the toy car can be calculated by combining the size of the toy car in the current image and the parameters of the camera. The orientation of the ball relative to the toy vehicle can be determined based on the calculated distance of the ball relative to the toy vehicle and the heading angle of the ball relative to the toy vehicle.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 5 is a ball tracking device of a ball tracking toy according to an embodiment of the present application, the ball tracking toy is provided with an infrared light source for emitting a predetermined wavelength, a tracked small ball is covered with a reflective material layer, and the ball tracking device includes:
the image acquisition unit 501 is used for acquiring an image through an infrared camera and determining the brightness of the acquired image;
a brightness comparison unit 502, configured to determine, according to a preset brightness threshold, a first region where the brightness of the image is greater than the brightness threshold;
a first size calculation unit 503, configured to determine the size of the small ball through contour detection if the first area is larger than a preset area threshold;
a second size calculating unit 504 for calculating the size of the small ball according to the shape of the first region if the first region is less than or equal to a preset area threshold;
a pellet orientation determining unit 505 for calculating the relative orientation of the pellet based on the determined size of the pellet.
Preferably, the second size calculation unit includes:
the similarity operator unit is used for calculating the similarity between the appearance of the first area and the appearance of the small ball;
a small ball area determining subunit, configured to select a first area with the highest similarity to the shape of the small ball as an area where the small ball is located;
and the size calculating subunit is used for calculating the size of the small ball according to the cambered surface of the first area.
The ball tracking device of the ball tracking toy of fig. 5 corresponds to the ball tracking method of fig. 1.
Fig. 6 is a schematic view of a ball tracking toy according to one embodiment of the present application. As shown in fig. 6, the ball tracking toy 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62, such as a ball tracking program, stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the various ball tracking method embodiments described above. Alternatively, the processor 60 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 62.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 62 in the ball tracking toy 6. For example, the computer program 62 may be divided into:
the image acquisition unit is used for acquiring images through the infrared camera and determining the brightness of the acquired images;
the brightness comparison unit is used for determining a first area of which the brightness of the image is greater than a preset brightness threshold value according to the preset brightness threshold value;
a first size calculation unit for determining the size of the small ball through contour detection if the first area is larger than a preset area threshold;
a second size calculation unit for calculating the size of the small ball according to the shape of the first region if the first region is less than or equal to a preset area threshold;
and the small ball orientation determining unit is used for calculating the relative orientation of the small ball according to the determined size of the small ball.
The ball tracking toy may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a ball tracking toy 6 and is not intended to be limiting of ball tracking toy 6, and may include more or fewer components than shown, or some components in combination, or different components, e.g., the ball tracking toy may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the ball tracking toy 6, such as a hard disk or a memory of the ball tracking toy 6. The memory 61 may also be an external storage device of the ball tracking toy 6, such as a plug-in hard disk provided on the ball tracking toy 6, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 61 may also include both an internal storage unit and an external storage device for the ball tracking toy 6. The memory 61 is used to store the computer program and other programs and data required by the ball tracking toy. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A ball tracking method of a ball tracking toy is characterized in that an infrared light source used for emitting preset wavelength is arranged on the ball tracking toy, a reflecting material layer is covered on the surface of a tracked small ball, and the ball tracking method comprises the following steps:
acquiring an image through an infrared camera, and determining the brightness of the acquired image;
determining a first area with the brightness of the image being larger than a preset brightness threshold value;
if the first area is larger than a preset area threshold value, determining the size of the small ball through contour detection;
if the first area is smaller than or equal to a preset area threshold value, calculating the size of the small ball according to the shape of the first area;
the relative orientation of the pellets is calculated based on the determined size of the pellets.
2. A ball tracking method for a ball tracking toy according to claim 1, wherein if said first area is less than or equal to a predetermined area threshold, said step of calculating the size of said ball from the shape of said first area comprises:
calculating the similarity between the appearance of the first area and the appearance of the small ball;
selecting a first area with the highest similarity with the shape of the small ball as an area where the small ball is located;
and calculating the size of the small ball according to the cambered surface of the first area.
3. A ball tracking method for a ball tracking toy according to claim 2, wherein prior to said step of calculating the size of said ball from the arc of said first area, said method further comprises:
and performing noise filtering on the first area by adopting a Kalman filter.
4. A ball tracking method for a ball tracking toy according to claim 1, wherein said step of determining the size of the ball by contour detection if said first area is greater than a predetermined area threshold comprises:
determining the contour line included in the first area;
determining the small ball contour in the first area according to the similarity between the contour line and the small ball contour;
calculating the size of the small ball according to the determined outline of the small ball.
5. A ball tracking method for a ball tracking toy according to claim 1, wherein the infrared light source has an infrared light ray having a wavelength greater than a wavelength of the indoor light source.
6. A ball tracking method for a ball tracking toy according to claim 1, wherein the light reflecting material of the tracked ball is light reflecting powder, the light reflecting powder is adhered to the surface of the ball by a coated adhesive layer, and the surface of the light reflecting powder is fixed by a thin plastic layer.
7. The utility model provides a ball tracer of toy is tracked to ball, its characterized in that, be provided with the infrared light source that is used for launching predetermined wavelength on the toy is tracked to ball, the bobble surface that tracks has covered the reflecting material layer, ball tracer includes:
the image acquisition unit is used for acquiring images through the infrared camera and determining the brightness of the acquired images;
the brightness comparison unit is used for determining a first area of which the brightness of the image is greater than a preset brightness threshold value according to the preset brightness threshold value;
a first size calculation unit for determining the size of the small ball through contour detection if the first area is larger than a preset area threshold;
a second size calculation unit for calculating the size of the small ball according to the shape of the first region if the first region is less than or equal to a preset area threshold;
and the small ball orientation determining unit is used for calculating the relative orientation of the small ball according to the determined size of the small ball.
8. A ball tracking device for a ball tracking toy according to claim 7, wherein said second size calculating unit includes:
the similarity operator unit is used for calculating the similarity between the appearance of the first area and the appearance of the small ball;
a small ball area determining subunit, configured to select a first area with the highest similarity to the shape of the small ball as an area where the small ball is located;
and the size calculating subunit is used for calculating the size of the small ball according to the cambered surface of the first area.
9. A ball tracking toy comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program performs the steps of a ball tracking method of a ball tracking toy according to any of claims 1 to 6.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a ball tracking method for a ball tracking toy according to any one of claims 1 to 6.
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| CN201910364065.7A CN111841035B (en) | 2019-04-30 | 2019-04-30 | Ball tracking toy and ball tracking method and device thereof |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4662854A (en) * | 1985-07-12 | 1987-05-05 | Union Electric Corp. | Self-propellable toy and arrangement for and method of controlling the movement thereof |
| US6482064B1 (en) * | 2000-08-02 | 2002-11-19 | Interlego Ag | Electronic toy system and an electronic ball |
| CN100455335C (en) * | 2001-10-31 | 2009-01-28 | 麦特尔公司 | Master and slave toy vehicle pair |
| CN101088587A (en) * | 2006-06-16 | 2007-12-19 | 原相科技股份有限公司 | Moving object tracking device and infrared ray reflector |
| US20120270466A1 (en) * | 2011-04-25 | 2012-10-25 | Spin Master Ltd. | System for automatically tracking a moving toy vehicle |
| CN202096300U (en) * | 2011-05-20 | 2012-01-04 | 南通爱普医疗器械有限公司 | Surgical navigation medical reflective small ball |
| TWM418719U (en) * | 2011-07-29 | 2011-12-21 | Lee-Jun Lai | Interactive electronic scientific toy |
| CN105987683B (en) * | 2015-04-16 | 2018-03-27 | 北京蚁视科技有限公司 | A kind of vision positioning system and method based on high reflective infrared mark |
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