Intelligent assistant referee system for football matches based on multi-sensor fusion

Abstract

The present invention relates to the field of intelligent referee technology, and in particular to an intelligent auxiliary referee system for football matches based on multi-sensor fusion, comprising: a data acquisition module, a first judgment module, a first determination module, a second judgment module, a second determination module, an adjustment module, and a marking module. The present invention realizes real-time monitoring and accurate determination of the target motion state in a football match through multi-sensor data fusion. The system can accurately identify abnormal behavior based on real-time position, acceleration and pressure data, determine whether there is a foul, and correct the determination threshold through historical data and dynamic adjustment mechanism, thereby improving the accuracy and reliability of foul determination, effectively reducing the subjective error of manual referees, and enhancing the viewing and transparency of the game, effectively solving the problem of large referee judgment deviation and low adaptability to complex game environments due to reliance on a single sensor or data source and poor environmental adaptability.

Description

Technical Field

[0001] The present invention relates to the field of intelligent refereeing technology, and in particular to an intelligent auxiliary refereeing system for football matches based on multi-sensor fusion. Background Art

[0002] As football matches become increasingly fierce and technology develops, the accuracy and timeliness of referees' penalties are becoming increasingly important in the game. However, the traditional manual penalty method relies on the referee's subjective judgment and limited vision, and is easily affected by many factors such as the complexity of the field, environmental factors, and the speed of the athletes' movements, leading to errors in penalties.

[0003] The patent document with publication number CN111840965A discloses a multi-person collaborative intelligent referee system, which includes: a microprocessor, a referee terminal and a cloud server, wherein the microprocessor is connected to the referee terminal and the cloud server; the referee terminal is held by the referee to assist the referee in his work; there are multiple referee terminals, which are interconnected through the microprocessor to exchange and transmit information; the cloud server receives information sent by the microprocessor and stores the information in a database; the microprocessor is externally connected to a VAR system and a goal line module, the VAR system transmits the game video to the microprocessor, and the microprocessor forwards the game information to the referee terminal; the referee terminal includes an identity authentication unit for verifying the referee information, a heart rate detection unit for detecting the referee's heart rate, a voting unit for making a decision, a prompt unit for reminding, a recording unit for recording stadium information, a timing unit for assisting timing, and a real-time positioning module for locating the terminal position.

[0004] It can be seen that the multi-person collaborative intelligent referee system has the following problems: there is a delay in the information transmission between the referee terminal and the cloud server. Especially when the game is fast-paced, the referee cannot obtain the latest game data or video playback in time, affecting the timeliness and accuracy of the decision; although multiple referee terminals are connected through a microprocessor and exchange information, in actual applications, the coordination between referees will be affected by poor information transmission or referee judgment bias, resulting in inconsistent decisions and reducing the consistency and fairness of penalties. Summary of the invention

[0005] To this end, the present invention provides an intelligent assisted referee system for football matches based on multi-sensor fusion, which is used to overcome the problems in the prior art of large referee judgment deviation and low adaptability to complex game environments due to reliance on a single sensor or data source and poor environmental adaptability through comprehensive analysis and fusion of multiple sensor data.

[0006] To achieve the above object, the present invention provides an intelligent assistant referee system for football matches based on multi-sensor fusion, comprising:

[0007] A data acquisition module is used to collect the real-time position, real-time acceleration and real-time pressure of each target to be processed in the football game field;

[0008] A first determination module, connected to the data acquisition module, for determining whether there is a temporary abnormality according to the real-time positions and a preset speed threshold of any two of the targets to be processed, and forming a first determination result;

[0009] a first determination module, which is connected to the data acquisition module and the first determination module respectively, and is used to determine the abnormality type of the temporary abnormality according to the first determination result, the real-time acceleration and the real-time bearing pressure;

[0010] A second determination module, which is connected to the data acquisition module and the first determination module respectively, and is used to determine whether a violation exists according to the abnormality type and the real-time pressure to be endured, and form a second determination result;

[0011] A second determination module, which is connected to the second determination module and the data acquisition module respectively, and is used to determine the foul target according to the second determination result and the real-time position within a preset historical determination time period;

[0012] an adjustment module, which is respectively used with the second determination module and the first determination module to adjust the preset speed threshold according to the number of the foul targets within a preset adjustment time to form a modified speed threshold;

[0013] A marking module is connected to the second determining module and the adjusting module respectively, and is used to mark the violation target formed based on the modified speed threshold to form a marked target.

[0014] Furthermore, the first determination module includes:

[0015] A distance calculation unit, used for calculating the difference between the real-time positions of any two of the targets to be processed to form a position distance;

[0016] a speed calculation unit connected to the distance calculation unit, for calculating a change speed of the position distance within a preset historical calculation time period to form a distance speed when the position distance is less than a preset abnormal distance;

[0017] The first determination unit is connected to the speed calculation unit and is used to determine that a temporary abnormality exists when the distance speed is greater than the preset speed threshold, so as to form a first determination result.

[0018] Furthermore, the first determining module includes:

[0019] An acceleration curve drawing unit, used for drawing a change curve according to the first determination result, the real-time acceleration and a preset drawing time to form an acceleration curve;

[0020] A pressure curve drawing unit, used for drawing a change curve according to the first determination result, the real-time pressure and the preset drawing time to form a pressure curve;

[0021] A first determination unit is connected to the acceleration curve drawing unit and the pressure curve drawing unit respectively, and is used to determine the abnormality type of the temporary abnormality according to the acceleration curve and the pressure curve.

[0022] Further, the first determining unit includes:

[0023] A consistency calculation subunit, used to calculate the cosine similarity of the acceleration curve and the pressure curve to form a change consistency;

[0024] The first determination subunit is connected to the consistency calculation subunit, and is used to determine that the abnormality type of the temporary abnormality is a foul type when the change consistency is less than a preset consistency threshold.

[0025] Furthermore, the second determination module includes:

[0026] A pressure comparison unit, used to compare the real-time pressure and a preset pressure threshold to form a pressure comparison result;

[0027] The second determination unit is connected to the pressure comparison unit, and is used for determining that a violation exists and forming a second determination result when the pressure comparison result shows that the real-time pressure is greater than the preset pressure threshold.

[0028] Furthermore, the second determining module includes:

[0029] a direction determination unit, configured to determine the movement direction according to the second determination result and the real-time position within a preset historical determination time period, to form a first direction and a second direction;

[0030] a splitting unit, used for splitting the first direction into the second direction respectively;

[0031] A second determining unit is connected to the splitting unit, and is used to determine a foul target according to the first direction after splitting and the second direction after splitting.

[0032] Furthermore, the splitting unit comprises:

[0033] A first splitting sub-unit, used for splitting the first direction into sub-directions in a horizontal direction to form a first horizontal sub-direction, and splitting the first direction into sub-directions in a vertical direction to form a first vertical sub-direction;

[0034] The second splitting sub-unit is used to split the second direction into sub-directions in the horizontal direction to form a second horizontal sub-direction, and to split the second direction into sub-directions in the vertical direction to form a second vertical sub-direction.

[0035] Further, the second determining unit includes:

[0036] a direction comparison subunit, configured to compare the first horizontal sub-direction with the second horizontal sub-direction to form a horizontal comparison result, and to compare the first vertical sub-direction with the second vertical sub-direction to form a vertical comparison result;

[0037] a determination speed calculation subunit connected to the direction comparison subunit, for calculating a position change value according to the real-time position within the preset historical determination time period to form a first determination speed and a second determination speed when the horizontal comparison result is that the first horizontal sub-direction and the second horizontal sub-direction are the same, and the vertical comparison result is that the first vertical sub-direction and the second vertical sub-direction are the same;

[0038] The second determining subunit is connected to the determining speed calculating subunit, and is used for determining that the to-be-processed target corresponding to the first determining speed is a foul target when the first determining speed is greater than the second determining speed.

[0039] Furthermore, the second determining unit further includes:

[0040] a determination acceleration calculation subunit connected to the direction comparison subunit, for calculating the acceleration according to the real-time position within the preset historical determination time period to form a first determination acceleration and a second determination acceleration when the horizontal comparison result is that the first horizontal sub-direction and the second horizontal sub-direction are different, and the vertical comparison result is that the first vertical sub-direction and the second vertical sub-direction are different;

[0041] The second determining subunit is further configured to determine that the target to be processed corresponding to the first determined acceleration is a foul target when the first determined acceleration is greater than the second determined acceleration.

[0042] Furthermore, the adjustment module includes:

[0043] a fluctuation calculation unit, for calculating a standard deviation of the number of the foul targets to form a quantity fluctuation value;

[0044] The adjustment module is connected to the fluctuation calculation unit and is used to adjust the preset speed threshold according to the relative deviation between the quantity fluctuation value and the preset fluctuation threshold and the preset adjustment coefficient to form a modified speed threshold when the quantity fluctuation value is greater than the preset fluctuation threshold.

[0045] Compared with the prior art, the beneficial effect of the present invention is that, through multi-sensor data fusion, real-time monitoring and accurate judgment of the target motion state in a football match are realized. The system can accurately identify abnormal behavior based on real-time position, acceleration and pressure data, determine whether there is a foul, and correct the judgment threshold through historical data and dynamic adjustment mechanism, thereby improving the accuracy and reliability of foul judgment, effectively reducing the subjective error of manual referees, providing scientific basis for referees, improving the fairness of the game and the accuracy of penalties, while enhancing the viewing and transparency of the game, and effectively solving the problem of large referee judgment deviation and low adaptability to complex game environments due to reliance on a single sensor or data source and poor environmental adaptability.

[0046] Furthermore, by monitoring the position change speed between the targets in real time, it is possible to detect abnormal proximity or abnormal movement between the two in a timely manner, especially in the case of high-speed collision or abnormal proximity, and to quickly identify and generate temporary abnormal judgments. This detection method can effectively avoid misjudgments caused by proximity in ordinary sports, ensure more accurate foul judgments, and improve the fairness of the referee and the accuracy of the penalty.

[0047] Furthermore, by processing the acceleration and pressure data into curves, the identification of abnormal behavior does not rely solely on a single data point, but is judged by dynamic change trends. By drawing the change curve, the system can clearly capture the abnormal pattern of the target behavior, thereby improving the system's ability to identify complex behaviors, especially in the case of instantaneous abnormalities (such as sudden violent collisions or rapid acceleration), which is more reliable and accurate than traditional static judgment methods. In addition, by combining and analyzing the data of the two sensors, it can also reduce erroneous judgments caused by single sensor failure or errors, and improve the overall judgment accuracy and robustness.

[0048] Furthermore, by introducing a consistency calculation subunit, a comprehensive comparison is made between acceleration and pressure data, making the judgment of abnormal behavior more comprehensive and accurate. Through the cosine similarity method, the system not only analyzes the anomalies of a single dimension, but also comprehensively considers the similarity of data in multiple dimensions. It can effectively identify those abnormal situations that seem normal in one dimension but are inconsistent in overall behavior, thus improving the ability to identify complex behaviors.

[0049] Furthermore, by comparing pressure changes, it can monitor and judge in real time whether fouls caused by excessive physical confrontation or improper actions (such as pushing, pulling, etc.) have occurred on the court. Compared with traditional manual judgment, automated judgment based on pressure sensors can improve the accuracy of referee judgments and reduce misjudgments and missed judgments. By real-time monitoring of pressure, the system can quickly and accurately identify abnormal behavior and ensure the fairness of the game, especially in high-speed sports, the system can accurately capture physical contact between players.

[0050] Furthermore, by splitting and analyzing the direction of movement, the differences in players' behaviors in different directions in complex movement situations can be effectively identified, so as to accurately determine the target of the foul. Through dynamic splitting and multi-dimensional analysis, the accuracy and reliability of judgment are improved, which helps to reduce the possibility of misjudgment and missed judgment, and ensure the fairness and accuracy of the refereeing of the game.

[0051] Furthermore, the split unit design enables the system to analyze the direction of movement in multiple dimensions, avoiding simplified judgments that rely only on a single direction. In this way, the system can more accurately identify the player's movement trajectory, especially in high-speed movements and complex situations, improving the accuracy of foul judgments.

[0052] Furthermore, by comparing the target's movement direction and speed in detail, possible foul behaviors in motion can be effectively distinguished. In particular, when the directions of the two targets are the same, the foul target can be judged based on the speed difference. This not only improves the accuracy of the judgment, but also avoids the problem of making one-sided judgments based on only a single movement direction or speed. It is especially suitable for judging fouls involving high speeds and rapid changes of direction.

[0053] Furthermore, by comparing the direction and speed of movement, the acceleration calculation is also added to make the judgment more comprehensive and accurate. Especially when the two targets are moving in different directions, the comparison of acceleration can help the system determine which side's action is more aggressive or unreasonable, thereby more effectively identifying fouls.

[0054] Furthermore, by monitoring the fluctuation of the number of foul targets, the speed threshold can be adjusted dynamically to improve the system's adaptability in different game situations. By calculating the standard deviation and combining the preset fluctuation threshold and adjustment coefficient, the system can adjust the judgment criteria in real time to more accurately identify foul behaviors and avoid misjudgments or missed judgments caused by overly fixed rule settings. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 Schematic diagram of an intelligent assistant referee system for football matches based on multi-sensor fusion according to this embodiment;

[0056] Figure 2A determination logic diagram for determining a temporary abnormality by the first determination module of this embodiment;

[0057] Figure 3 This is a determination logic diagram for determining an abnormality type by the first determination unit of this embodiment;

[0058] Figure 4 This is a determination logic diagram for the second determination module of this embodiment to determine whether a foul occurs. DETAILED DESCRIPTION

[0059] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0060] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0061] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0062] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] See also Figure 1 As shown, it is a schematic diagram of the intelligent auxiliary referee system for football matches based on multi-sensor fusion in this embodiment;

[0064] This embodiment provides an intelligent assistant referee system for football matches based on multi-sensor fusion, including:

[0065] A data acquisition module is used to collect the real-time position, real-time acceleration and real-time pressure of each target to be processed in the football game field;

[0066] A first determination module, connected to the data acquisition module, for determining whether there is a temporary abnormality according to the real-time positions and a preset speed threshold of any two of the targets to be processed, and forming a first determination result;

[0067] a first determination module, which is connected to the data acquisition module and the first determination module respectively, and is used to determine the abnormality type of the temporary abnormality according to the first determination result, the real-time acceleration and the real-time bearing pressure;

[0068] A second determination module, which is connected to the data acquisition module and the first determination module respectively, and is used to determine whether a violation exists according to the abnormality type and the real-time pressure to be endured, and form a second determination result;

[0069] A second determination module, which is connected to the second determination module and the data acquisition module respectively, and is used to determine the foul target according to the second determination result and the real-time position within a preset historical determination time period;

[0070] an adjustment module, which is respectively used with the second determination module and the first determination module to adjust the preset speed threshold according to the number of the foul targets within a preset adjustment time to form a modified speed threshold;

[0071] A marking module is connected to the second determining module and the adjusting module respectively, and is used to mark the violation target formed based on the modified speed threshold to form a marked target.

[0072] The preset speed threshold depends on the normal range of the target movement speed, the size of the competition venue and the physical fitness differences of the athletes. It is usually set between 5m / s-10m / s. In this embodiment, it is set to 8m / s, which can distinguish between normal movement and abnormal high-speed collision, ensuring the accuracy of foul judgment.

[0073] The preset historical determination time depends on the rhythm of the game, the duration of the target action, and the duration of the foul behavior. It is usually set between 1 second and 3 seconds. In this embodiment, it is set to 2 seconds. A reasonable time window can capture instant anomalies while avoiding too long or too short a duration that affects the accuracy of the judgment.

[0074] The preset adjustment time depends on the relative distance between the athletes, the frequency of changes in movement speed, and the speed of the game progress. It is usually set between 5 seconds and 10 seconds. In this embodiment, it is set to 7 seconds, which helps to dynamically adjust the threshold, avoid misjudgment due to fluctuations in individual instantaneous data, and adapt to the different rhythms of the game.

[0075] The data acquisition module uses multiple sensors and devices to monitor the targets to be processed in the football field in real time. The position can be obtained through GPS sensors, inertial measurement units (IMUs) or computer vision technologies (such as cameras and image recognition algorithms); the acceleration is measured in real time through accelerometers or inertial sensors to capture the movement changes of the target; the pressure is measured using pressure sensors or sensor kits installed on the soles of athletes' shoes or equipment to monitor their force in real time. Through these devices, the data acquisition module can efficiently obtain the target's position, acceleration and pressure data on the field to support subsequent judgment and analysis.

[0076] The data acquisition module is used to obtain real-time information such as the real-time position, acceleration, and pressure of each target in the football match field. First, the first determination module determines whether there is a temporary abnormality based on the real-time position of the target and the preset speed threshold, and forms a preliminary determination result. Then, the first determination module further determines the type of abnormality based on the real-time acceleration and pressure information. The second determination module determines whether there is a foul behavior based on the abnormality type and pressure information, and forms a preliminary result of the foul. The second determination module further confirms the foul target based on the historical position data, and adjusts the preset speed threshold according to the historical data through the adjustment module to generate a corrected speed threshold. Finally, the marking module marks the foul target based on the corrected speed threshold to ensure that the referee system can accurately identify and determine the fouling player.

[0077] Through multi-sensor data fusion, real-time monitoring and accurate judgment of the target's motion state in football matches are achieved. The system can accurately identify abnormal behavior based on real-time position, acceleration and pressure data, determine whether there is a foul, and correct the judgment threshold through historical data and dynamic adjustment mechanism, which improves the accuracy and reliability of foul judgment, can effectively reduce the subjective errors of manual referees, provide scientific basis for referees, improve the fairness of the game and the accuracy of penalties, and enhance the viewing and transparency of the game. It effectively solves the problem of large referee judgment deviation and low adaptability to complex game environments due to reliance on a single sensor or data source and poor environmental adaptability.

[0078] Please continue reading Figure 2 As shown, it is a determination logic diagram of the first determination module determining temporary abnormality in this embodiment;

[0079] Specifically, the first determination module includes:

[0080] A distance calculation unit, used for calculating the difference between the real-time positions of any two of the targets to be processed to form a position distance;

[0081] a speed calculation unit connected to the distance calculation unit, for calculating a change speed of the position distance within a preset historical calculation time period to form a distance speed when the position distance is less than a preset abnormal distance;

[0082] The first determination unit is connected to the speed calculation unit and is used to determine that a temporary abnormality exists when the distance speed is greater than the preset speed threshold, so as to form a first determination result.

[0083] The preset abnormal distance refers to the distance threshold used to determine whether two targets (such as players) are abnormally close. If the distance between the two targets is less than the threshold, it means that their contact or relative position has changed abnormally, and the system will make further judgments. This distance depends on the player's sports characteristics, the size of the field, and the specific rules of the game. Usually, the preset abnormal distance is set between 0.5 meters and 2 meters. In this embodiment, it is set to 1 meter, which can effectively capture the possible closeness of players or possible conflict-causing behaviors in the field.

[0084] The preset historical calculation duration refers to the length of time the system reviews historical data when making target behavior judgments, in order to analyze the rate of change of the target's position during that period. It is usually set between 1 second and 3 seconds. In this embodiment, it is set to 2 seconds, which can balance timely response and avoid misjudgment caused by too rapid changes.

[0085] First, the distance calculation unit calculates the real-time position difference of the two targets to be processed to obtain the position distance. Then, the speed calculation unit calculates the change speed of the target's position distance within the preset historical calculation time when the position distance is less than the preset abnormal distance to obtain the distance speed. If the calculated distance speed is greater than the preset speed threshold, the first determination unit determines that there is a temporary abnormality and forms a first determination result.

[0086] By monitoring the position change speed between the targets in real time, it is possible to detect abnormal proximity or abnormal movement between the two in a timely manner, especially in the case of high-speed collision or abnormal proximity, and quickly identify and generate temporary abnormal judgments. This detection method can effectively avoid misjudgments caused by proximity in ordinary sports, ensure more accurate foul judgments, and improve the fairness of the referee and the accuracy of the penalty.

[0087] Specifically, the first determining module includes:

[0088] An acceleration curve drawing unit, used for drawing a change curve according to the first determination result, the real-time acceleration and a preset drawing time to form an acceleration curve;

[0089] A pressure curve drawing unit, used for drawing a change curve according to the first determination result, the real-time pressure and the preset drawing time to form a pressure curve;

[0090] A first determination unit is connected to the acceleration curve drawing unit and the pressure curve drawing unit respectively, and is used to determine the abnormality type of the temporary abnormality according to the acceleration curve and the pressure curve.

[0091] In the first determination module, the acceleration curve drawing unit draws a curve graph of acceleration changing with time according to the determination result generated by the first determination module and the acceleration data collected in real time, combined with the preset drawing time; similarly, the pressure curve drawing unit draws a pressure change curve according to the determination result and the pressure data collected in real time. Subsequently, the first determination unit determines whether there is any abnormality in the target behavior by analyzing the change trend and form of the two curves. Specifically, if the change pattern of the acceleration and pressure curves is significantly different from the normal movement pattern, it can be inferred that there is abnormal behavior (such as fouls, collisions, etc.). The purpose of this step is to comprehensively confirm the abnormal type of the target from multi-dimensional data (acceleration and pressure) and provide accurate judgment basis.

[0092] By processing the acceleration and pressure data into curves, the identification of abnormal behavior does not rely solely on a single data point, but is judged by dynamic change trends. By drawing change curves, the system can clearly capture the abnormal pattern of the target behavior, thereby improving the system's ability to identify complex behaviors, especially in the case of instantaneous abnormalities (such as sudden violent collisions or rapid acceleration), which is more reliable and accurate than traditional static judgment methods. In addition, by combining and analyzing the data of the two sensors, it can also reduce erroneous judgments caused by single sensor failure or errors, and improve the overall judgment accuracy and robustness.

[0093] Please continue reading Figure 3 As shown, it is a determination logic diagram of the first determination unit determining the abnormality type in this embodiment;

[0094] Specifically, the first determining unit includes:

[0095] A consistency calculation subunit, used to calculate the cosine similarity of the acceleration curve and the pressure curve to form a change consistency;

[0096] The first determination subunit is connected to the consistency calculation subunit, and is used to determine that the abnormality type of the temporary abnormality is a foul type when the change consistency is less than a preset consistency threshold.

[0097] The preset consistency threshold is a standard for measuring the similarity between the acceleration curve and the pressure curve, which depends on the athlete's behavior pattern, data analysis and statistics, and experiments and tests. It is usually set between 0.5 and 0.9. In this embodiment, it is set to 0.7, which can capture foul behavior more accurately while avoiding misjudgment caused by oversensitivity.

[0098] The consistency calculation subunit calculates the cosine similarity between the acceleration curve and the pressure curve to obtain the consistency of changes in the two curves. Cosine similarity is an indicator to measure the consistency of the directions of two vectors. By comparing the changing trends of acceleration and pressure, the system can determine whether the changes in the data of the two sensors show a consistent pattern. The first determination subunit compares the calculated change consistency with the preset consistency threshold. If the consistency is lower than the threshold, it means that the changing trends between the acceleration and pressure curves are inconsistent, which may indicate that there is an abnormal and drastic change in the target behavior. The system determines this temporary anomaly as a foul type.

[0099] By introducing the consistency calculation subunit, a comprehensive comparison is made between acceleration and pressure data, making the judgment of abnormal behavior more comprehensive and accurate. Through the cosine similarity method, the system not only analyzes the anomalies of a single dimension, but also comprehensively considers the similarity of data in multiple dimensions. It can effectively identify those abnormal situations that seem normal in one dimension but are inconsistent in overall behavior, thus improving the ability to identify complex behaviors.

[0100] Please continue reading Figure 4 As shown, it is a determination logic diagram of whether a foul is committed by the second determination module of this embodiment;

[0101] Specifically, the second determination module includes:

[0102] A pressure comparison unit, used to compare the real-time pressure and a preset pressure threshold to form a pressure comparison result;

[0103] The second determination unit is connected to the pressure comparison unit, and is used for determining that a violation exists and forming a second determination result when the pressure comparison result shows that the real-time pressure is greater than the preset pressure threshold.

[0104] The second determination module compares the collected real-time pressure data with the preset pressure threshold. First, the pressure comparison unit is responsible for comparing the real-time pressure with the preset pressure threshold to form a pressure comparison result. Then, the second determination unit makes a judgment based on this comparison result: if the real-time pressure exceeds the preset pressure threshold, the system determines that there is a foul behavior and generates a second judgment result.

[0105] By comparing pressure changes, it can monitor and judge in real time whether fouls caused by excessive physical confrontation or improper actions (such as pushing, pulling, etc.) have occurred on the court. Compared with traditional manual judgment, automated judgment based on pressure sensors can improve the accuracy of referees' judgments and reduce misjudgments and missed judgments. By monitoring the pressure in real time, the system can quickly and accurately identify abnormal behaviors to ensure the fairness of the game, especially in high-speed sports, the system can accurately capture physical contact between players.

[0106] Specifically, the second determination module includes:

[0107] a direction determination unit, configured to determine the movement direction according to the second determination result and the real-time position within a preset historical determination time period, to form a first direction and a second direction;

[0108] a splitting unit, used for splitting the first direction into the second direction respectively;

[0109] A second determining unit is connected to the splitting unit, and is used to determine a foul target according to the first direction after splitting and the second direction after splitting.

[0110] First, the direction determination unit determines the movement direction of the target to be processed based on the second determination result and the real-time position data within the preset historical time length, and forms the first direction and the second direction respectively. Then, the splitting unit splits the first direction and the second direction into two sub-directions, horizontal and vertical, and processes the movement information in the horizontal direction and the vertical direction respectively. Finally, the second determination unit compares and analyzes the split direction information to determine the possible foul target. This process can more accurately identify foul behavior by refining the movement direction.

[0111] By splitting and analyzing the direction of movement, we can effectively identify the differences in players' behaviors in different directions in complex movement situations, so as to accurately determine the target of the foul. Through dynamic splitting and multi-dimensional analysis, the accuracy and reliability of judgment are improved, which helps to reduce the possibility of misjudgment and missed judgment, and ensure the fairness and accuracy of the referee.

[0112] Specifically, the splitting unit includes:

[0113] A first splitting sub-unit, used for splitting the first direction into sub-directions in a horizontal direction to form a first horizontal sub-direction, and splitting the first direction into sub-directions in a vertical direction to form a first vertical sub-direction;

[0114] The second splitting sub-unit is used to split the second direction into sub-directions in the horizontal direction to form a second horizontal sub-direction, and to split the second direction into sub-directions in the vertical direction to form a second vertical sub-direction.

[0115] The first splitting sub-unit splits the first motion direction of the target into a sub-direction in the horizontal direction (the first horizontal sub-direction) and a sub-direction in the vertical direction (the first vertical sub-direction). Similarly, the second splitting sub-unit splits the second motion direction of the target into a second horizontal sub-direction and a second vertical sub-direction. By splitting the motion direction in the horizontal direction and the vertical direction respectively, the module can analyze the motion trajectory of the target in more detail, especially for accurate direction determination in complex situations.

[0116] The split unit design enables the system to analyze the direction of movement in multiple dimensions, avoiding simplified judgments that rely on a single direction. In this way, the system can more accurately identify the player's movement trajectory, especially in high-speed movements and complex situations, improving the accuracy of foul judgments.

[0117] Specifically, the second determining unit includes:

[0118] a direction comparison subunit, configured to compare the first horizontal sub-direction with the second horizontal sub-direction to form a horizontal comparison result, and to compare the first vertical sub-direction with the second vertical sub-direction to form a vertical comparison result;

[0119] a determination speed calculation subunit connected to the direction comparison subunit, for calculating a position change value according to the real-time position within the preset historical determination time period to form a first determination speed and a second determination speed when the horizontal comparison result is that the first horizontal sub-direction and the second horizontal sub-direction are the same, and the vertical comparison result is that the first vertical sub-direction and the second vertical sub-direction are the same;

[0120] The second determining subunit is connected to the determining speed calculating subunit, and is used for determining that the to-be-processed target corresponding to the first determining speed is a foul target when the first determining speed is greater than the second determining speed.

[0121] First, the direction comparison subunit compares the horizontal and vertical directions of the two targets, and forms horizontal and vertical comparison results respectively. If the horizontal and vertical directions of the two targets are consistent, the system considers that their movement directions are the same. Next, the speed determination subunit calculates the position change values ​​of the two targets within the preset historical time length according to the real-time position within the time length, and obtains the first determined speed and the second determined speed. Finally, the second determination subunit determines the target with the larger speed as the foul target based on the comparison result if the first determined speed is greater than the second determined speed.

[0122] By comparing the target's movement direction and speed in detail, possible foul behaviors in motion can be effectively distinguished. Especially when the two targets are in the same direction, the foul target can be judged based on the speed difference. This not only improves the accuracy of the judgment, but also avoids the problem of making one-sided judgments based on only a single movement direction or speed. It is especially suitable for judging fouls at high speeds and rapid changes of direction.

[0123] Specifically, the second determining unit further includes:

[0124] a determination acceleration calculation subunit connected to the direction comparison subunit, for calculating the acceleration according to the real-time position within the preset historical determination time period to form a first determination acceleration and a second determination acceleration when the horizontal comparison result is that the first horizontal sub-direction and the second horizontal sub-direction are different, and the vertical comparison result is that the first vertical sub-direction and the second vertical sub-direction are different;

[0125] The second determining subunit is further configured to determine that the target to be processed corresponding to the first determined acceleration is a foul target when the first determined acceleration is greater than the second determined acceleration.

[0126] First, the direction comparison subunit compares the horizontal and vertical directions of the two targets to obtain horizontal and vertical comparison results. If the two directions are different, the system considers that the movement directions of the targets are different. Next, the acceleration calculation subunit determines the acceleration of the target based on the real-time position within the preset historical time length, and obtains the first determined acceleration and the second determined acceleration respectively. Finally, the second determination subunit compares the acceleration values ​​of the two targets. If the first determined acceleration is greater than the second determined acceleration, the target with the greater acceleration is determined to be the foul target.

[0127] By comparing the direction and speed of movement, the acceleration calculation is also added to make the judgment more comprehensive and accurate. Especially when the two targets are moving in different directions, the comparison of acceleration can help the system determine which side's action is more aggressive or unreasonable, thereby more effectively identifying fouls.

[0128] Specifically, the adjustment module includes:

[0129] a fluctuation calculation unit, for calculating a standard deviation of the number of the foul targets to form a quantity fluctuation value;

[0130] The adjustment module is connected to the fluctuation calculation unit and is used to adjust the preset speed threshold according to the relative deviation between the quantity fluctuation value and the preset fluctuation threshold and the preset adjustment coefficient to form a modified speed threshold when the quantity fluctuation value is greater than the preset fluctuation threshold.

[0131] The preset fluctuation threshold refers to a standard value set by the system, which depends on the specific circumstances of the game, such as the intensity of the game, the strictness of the rules, and the desired judgment sensitivity. It is usually set between 1.5 and 2 times the standard deviation of the target number. In this embodiment, it is set to 1.8, which can ensure timely adjustment of large quantity fluctuations without causing too many misjudgments, and adapt to the judgment needs in high-intensity games.

[0132] The preset adjustment coefficient refers to a constant coefficient used by the system to adjust the speed threshold, which depends on the rhythm of the game and the adaptability of the rules, and is usually set between 0.1 and 0.5. In this embodiment, it is set to 0.3, which can more effectively adjust the speed threshold when encountering large fluctuations, avoid excessive adjustment leading to unstable judgment, and maintain a certain adjustment sensitivity.

[0133] The preset adjustment coefficient refers to a constant coefficient used by the system to adjust the speed threshold, which depends on the rhythm of the game and the adaptability of the rules, and is usually set between 0.1 and 0.5. In this embodiment, it is set to 0.3, which can more effectively adjust the speed threshold when encountering large fluctuations, avoid excessive adjustment leading to unstable judgment, and maintain a certain adjustment sensitivity.

[0134] First, the fluctuation calculation unit calculates the standard deviation according to the number of foul targets, thereby obtaining a quantity fluctuation value. The fluctuation value reflects the degree of change in the number of foul targets. Then, the adjustment module adjusts the preset speed threshold according to the relative deviation between the quantity fluctuation value and the preset fluctuation threshold value, combined with the preset adjustment coefficient, when the fluctuation value is greater than the preset threshold value, to obtain a modified speed threshold value to adapt to the current game state.

[0135] By monitoring the fluctuation of the number of foul targets, the speed threshold can be adjusted dynamically to improve the system's adaptability in different game situations. By calculating the standard deviation and combining the preset fluctuation threshold and adjustment coefficient, the system can adjust the judgment criteria in real time to more accurately identify foul behaviors and avoid misjudgments or missed judgments due to overly fixed rule settings.

[0136] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0137] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent referee-assisted football match system based on multi-sensor fusion, characterized in that: include: A data acquisition module is used to collect the real-time position, real-time acceleration and real-time pressure of each target to be processed in the football game field; A first determination module, connected to the data acquisition module, for determining whether there is a temporary abnormality according to the real-time positions and a preset speed threshold of any two of the targets to be processed, and forming a first determination result; a first determination module, which is connected to the data acquisition module and the first determination module respectively, and is used to determine the abnormality type of the temporary abnormality according to the first determination result, the real-time acceleration and the real-time bearing pressure; A second determination module, which is connected to the data acquisition module and the first determination module respectively, and is used to determine whether a violation exists according to the abnormality type and the real-time pressure to be endured, and form a second determination result; A second determination module, which is connected to the second determination module and the data acquisition module respectively, and is used to determine the foul target according to the second determination result and the real-time position within a preset historical determination time period; an adjustment module, which is respectively used with the second determination module and the first determination module to adjust the preset speed threshold according to the number of the foul targets within a preset adjustment time to form a modified speed threshold; A marking module is connected to the second determining module and the adjusting module respectively, and is used to mark the violation target formed based on the modified speed threshold to form a marked target.

2. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 1 is characterized in that: The first determination module comprises: A distance calculation unit, used for calculating the difference between the real-time positions of any two of the targets to be processed to form a position distance; a speed calculation unit connected to the distance calculation unit, for calculating a change speed of the position distance within a preset historical calculation time period to form a distance speed when the position distance is less than a preset abnormal distance; The first determination unit is connected to the speed calculation unit and is used to determine that a temporary abnormality exists when the distance speed is greater than the preset speed threshold, so as to form a first determination result.

3. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 2 is characterized in that: The first determining module comprises: An acceleration curve drawing unit, used for drawing a change curve according to the first determination result, the real-time acceleration and a preset drawing time to form an acceleration curve; A pressure curve drawing unit, used for drawing a change curve according to the first determination result, the real-time pressure and the preset drawing time to form a pressure curve; A first determination unit is connected to the acceleration curve drawing unit and the pressure curve drawing unit respectively, and is used to determine the abnormality type of the temporary abnormality according to the acceleration curve and the pressure curve.

4. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 3 is characterized in that: The first determining unit includes: A consistency calculation subunit, used to calculate the cosine similarity of the acceleration curve and the pressure curve to form a change consistency; The first determination subunit is connected to the consistency calculation subunit, and is used to determine that the abnormality type of the temporary abnormality is a foul type when the change consistency is less than a preset consistency threshold.

5. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 4 is characterized in that: The second determination module comprises: A pressure comparison unit, used to compare the real-time pressure and a preset pressure threshold to form a pressure comparison result; The second determination unit is connected to the pressure comparison unit, and is used for determining that a violation exists and forming a second determination result when the pressure comparison result shows that the real-time pressure is greater than the preset pressure threshold.

6. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 5 is characterized in that: The second determining module comprises: a direction determination unit, configured to determine the movement direction according to the second determination result and the real-time position within a preset historical determination time period, to form a first direction and a second direction; a splitting unit, used for splitting the first direction into the second direction respectively; A second determining unit is connected to the splitting unit, and is used to determine a foul target according to the first direction after splitting and the second direction after splitting.

7. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 6 is characterized in that: The splitting unit comprises: A first splitting sub-unit, used for splitting the first direction into sub-directions in a horizontal direction to form a first horizontal sub-direction, and splitting the first direction into sub-directions in a vertical direction to form a first vertical sub-direction; The second splitting sub-unit is used to split the second direction into sub-directions in the horizontal direction to form a second horizontal sub-direction, and to split the second direction into sub-directions in the vertical direction to form a second vertical sub-direction.

8. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 7 is characterized in that: The second determining unit includes: a direction comparison subunit, configured to compare the first horizontal sub-direction with the second horizontal sub-direction to form a horizontal comparison result, and to compare the first vertical sub-direction with the second vertical sub-direction to form a vertical comparison result; a determination speed calculation subunit connected to the direction comparison subunit, for calculating a position change value according to the real-time position within the preset historical determination time period to form a first determination speed and a second determination speed when the horizontal comparison result is that the first horizontal sub-direction and the second horizontal sub-direction are the same, and the vertical comparison result is that the first vertical sub-direction and the second vertical sub-direction are the same; The second determination subunit is connected to the determination speed calculation subunit, and is used for determining that the to-be-processed target corresponding to the first determination speed is a foul target when the first determination speed is greater than the second determination speed.

9. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 8 is characterized in that: The second determining unit further includes: a determination acceleration calculation subunit connected to the direction comparison subunit, for calculating the acceleration according to the real-time position within the preset historical determination time period to form a first determination acceleration and a second determination acceleration when the horizontal comparison result is that the first horizontal sub-direction and the second horizontal sub-direction are different, and the vertical comparison result is that the first vertical sub-direction and the second vertical sub-direction are different; The second determining subunit is further configured to determine that the target to be processed corresponding to the first determined acceleration is a foul target when the first determined acceleration is greater than the second determined acceleration.

10. The intelligent assistant referee system for football matches based on multi-sensor fusion according to claim 9 is characterized in that: The adjustment module comprises: a fluctuation calculation unit, for calculating a standard deviation of the number of the foul targets to form a quantity fluctuation value; The adjustment module is connected to the fluctuation calculation unit and is used to adjust the preset speed threshold according to the relative deviation between the quantity fluctuation value and the preset fluctuation threshold and the preset adjustment coefficient to form a modified speed threshold when the quantity fluctuation value is greater than the preset fluctuation threshold.

Images