US20070072705A1

US20070072705A1 - System for pitching of baseball

Info

Publication number: US20070072705A1
Application number: US11/487,538
Authority: US
Inventors: Shoich Ono
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-09-26
Filing date: 2006-07-17
Publication date: 2007-03-29

Abstract

The present invention is a system for pitching of baseball to enjoy virtual game, throwing a ball from a mound plate in a pitching room. The system includes a fiber net member placed in the back of the home plate and held a tension by the ceiling, floor, and right and left walls, for flexibly catching the thrown ball and for dropping it on the floor; a plurality of narrow light sources arranged on the ceiling, floor, right wall, or left wall at different positions between the mound and home plate, wherein each light source emits slit light to the opposite side; a video camera arranged on the front wall, for photographing optical images reflected by the thrown ball which in turn passes through the positions corresponding to each light source and for outputting image signal; and a computer for detecting three-dimensional positions of the thrown ball based on the image signal output from the video camera and for outputting detecting signal.

Description

This application claims the benefit of priority of Japanese Patent Applications No. 2005-276963 filed Sep. 26, 2005 and No. 2005-348257 filed Dec. 1, 2005, the contents of which are incorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention
The present invention relates generally to a system for pitching of baseball or softball and, more particularly to a system for enjoying virtual baseball or softball game by throwing a ball in a pitching room.
2. Description of the Related Arts
There are several kinds of systems for enjoying virtual ball game such as baseball or softball. For example, U.S. Pat. No. 5,222,731 to Hanabusa et al. discloses a device for catching a ball. The device comprises a flam member, a net member put on the flame member, a mat member disposed the net member having a strike zone, and detection means for detecting the position of the pitched ball collided with or passed through the strike zone. The detection means is, for example, a plurality of photo-sensors mounted in predetermined location of the strike zone.
U.S. Pat. No. 5,333,855 to Silin et al. discloses a baseball pitching analyzer having a housing in the form of a cube with a forward face including an opening through which the baseball may pass. Located within the housing is an open rectangular frame mounting a plurality of light emitters and associated light detectors, arranged to form an array or grid of intersecting light beams.
U.S. Pat. No. 5,443,260 to Stewart et al. discloses a virtual reality baseball training and amusement apparatus, which includes a pair of detection planes, a computer, a video display and simulator monitor, and the like. The detection planes are spaced apart at a distance such that a ball batted through both detection planes would be a fair ball in a real ball. Each includes grid frame having a pair of optical scanners each of which is CCD camera, and a pair of light sources. Each scanner captures images of the ball to determine the coordinate of the ball by the angle and sends it to the computer. The computer calculates the trajectory and velocity of the ball.
U.S. Pat. No. 5,768,151 to Lowy et al. discloses a baseball simulation system, which includes a computer, a pair of cameras, and the like, and which determines the trajectory of a thrown ball from a baseball throwing device. The cameras capture the images of the thrown ball and detect two-dimensional coordinates of the reference planes. The computer calculates three-dimensional coordinates based on the two-dimensional coordinates and determines the trajectory of the ball.

SUMMERY OF THE INVENTION

These systems of the related arts detect the position of the ball by using one of two technologies. Also the related Japanese Patents, some of which will be disclosed in the IDS after filing this application, are similar. One technology employs a plurality of the photo-sensors each of which consists of an element emits light beam and an element receives it. Such an arrangement, however, would be difficult to fabricate, because each signal emitter and signal receiver is too distant to right align both optical axes. Therefore, it would be quite difficult to align the optical axes of all photo-sensors without crosstalk. Other employs a plurality of the video cameras which capture the images of the thrown ball. Each of video cameras can only detect the two-dimensional coordinates of the ball, so that it is necessary to calculate the three-dimensional coordinates of the ball based on the two-dimensional coordinates by using a computer, e.g., CPU. Therefore, these systems may require high cost due to the plurality of the video cameras and the high performance computer.
An object of the present invention is to provide a system which will accurately detect positions of a thrown ball, without any signal emitter and signal receiver which need align both optical axes, and to provide a system without a plurality of the video cameras and a high performance computer, i.e., with low cost.
The system according to the present invention includes a pitching room having a space which is enclosed with right and left walls, front and back walls, a ceiling, and a floor. The floor has a mound with a plate from which a player throws a ball and a home plate which defines a strike region. The distance from the plate to the home plate is adaptable to the baseball or softball rules for adults and kids. The pitching room includes a fiber net member placed in the back of the home plate and held a tension by the ceiling, floor, and right and left walls, for flexibly catching the thrown ball and for dropping it on the floor; a plurality of narrow light sources arranged on at least one side of the ceiling, floor, right wall, and left wall at different positions between the mound and home plate, wherein each light source emits slit light to the opposite side; a video camera for photographing optical images reflected by the thrown ball which in turn passes through the positions corresponding to each light source and for outputting image signal; and a computer for detecting three-dimensional positions of the thrown ball based on the image signal output from the video camera and for outputting the detecting signal.
The present invention will provide a system for a player to enjoy virtual baseball or softball game, by accurately detecting the three-dimensional positions of the ball thrown from the mound without the plurality of the photo-sensors, the plurality of the video cameras, and a high performance computer, and by judging the trajectory of the ball which passes over the home plate.

BRIEF DESCRIPTION OF THE FIGURES

A better understanding of the present invention will be obtained when the following detailed description of preferred embodiments are considered in conjunction with the following drawings, in which:
FIG. 1 is a pitching system in an embodiment according to the present invention;
FIG. 2 is a schematically perspective illustration of a pitching room of an embodiment according to the present invention;
FIG. 3 is a cross-section view of FIG. 2 taken along the line 3-3;
FIG. 4 is a cross-section view of FIG. 2 taken along the line 4-4;
FIG. 5A is a horizontal sectional view of a light source of FIG. 4;
FIG. 5B shows nine light sources of FIG. 4, emitting red vertical slit lights;
FIGS. 6A to 6E show images of a thrown ball;
FIG. 7A shows static pictures and a dynamic picture indicating a batter;
FIG. 7B shows a dynamic picture indicating a catcher;
FIG. 8 shows a catcher's picture directing a target of a ball;
FIGS. 9 to 11 show a catcher's picture catching a ball;
FIG. 12 shows a catcher's picture moving in response to a returning ball;
FIG. 13 is a block diagram of the system in a pitching room;
FIGS. 14A to 14G show data formats in RAM of FIG. 13;
FIG. 15 is a flowchart of a computer of FIG. 13;
FIG. 16 is a flowchart of judging process of FIG. 15;
FIG. 17 a flowchart of judging process following FIG. 16;
FIG. 18 is a partial block diagram of a CMOS sensor in a video camera of an embodiment according to the present invention;
FIG. 19 is a circuit diagram of electronics circuits in a CMOS sensor of an embodiment according to the present invention;
FIG. 20 is signal forms in electronics circuits in a CMOS sensor of an embodiment according to the present invention;
FIG. 21 shows detecting the position of the flying ball; and
FIG. 22 is a robot in another embodiment according to the present invention.

DETAILED DESCRIPTION

FIG. 1 is a pitching system in an embodiment according to the present invention. The pitching system includes eight pitching rooms (PR1-8) 100 in which a player enjoys virtual baseball game, a center management system (CMS) 200 which communicates with the pitching rooms 100 via wireless signal, a reception device (RCP) 300 which communicates with the CMS 200 and accepts customer's reservation of play for sending to the CMS 200, a base station controller (BSC) 400 which communicates with the CMS 200, and base stations (BS) 500 which communicate with the BSC 400 and customer's mobile phones 600. Each mobile phone 600 communicates with the most suitable BS 500 via wireless signal. The pitching system according to the present invention is stalled in a shopping center, a department store, a stadium, or the like.
FIG. 2 is a schematically perspective illustration of the pitching room 100, which is like a long house, having a space which is enclosed with a ceiling 101, a floor 102, right and left walls 103, 104, a front wall with a door 105 a, and a back wall 106. The interior of the pitching room 100 has a size; about 10 feet width, about 10 feet height, and about 80 feet length.
FIG. 3 is a cross-sectional view of FIG. 2 taken along the line 3-3. FIG. 4 is a cross-sectional view of FIG. 2 taken along the line 4-4. In FIGS. 3 and 4, a pitcher's plate 1 on a mound from which a player throws a ball and a home plate 2 by which a strike region is defined, are placed on the floor 102 with a predetermined longitudinal distance. For example, in case of the baseball for adults, the distance from the pitcher's plate 1 to the home plate 2 is about 60 feet. And in FIGS. 3 and 4, a computer 21 is placed on the floor 102 near the pitcher's plate 1. A consol 22 having switches and a display such as LCD is placed on the computer 21. As shown in FIG. 3, a video display device 30 with a large screen, such as an LCD, a plasma screen and the like, is placed in front of the back wall 106. A fiber net member 24 is placed between the home plate 2 and the device 30. The net member 24 is held a tension by the ceiling 101, floor 102, right and left walls 103, 104.
Further, in FIGS. 3 and 4, a video camera 31 which photographs the thrown ball with a set angle of view and a camera controller 32 which mechanically sets the angle of view of the camera 31, are placed on the front wall 105 with a predetermined height. The camera 31 is positioned along a longitudinal center line CL indicated by alternate long and short dashed lines in FIG. 4.
The computer 21 is operatively connected to the consol 22, device 30, camera 31, camera controller 32 and the like, and systematically controls them in order to progress the virtual baseball or softball game. The computer 21 receives the signal from the consol 22 in which the user inputs commands indicating the game condition through the switches. Also, the computer 21 sends the device 30 control signal by which the picture on the screen is selected. Further, the computer 21 sends the camera controller 32 control signal by which the angle of view of the camera 31 is set. Consequently, the computer 21 can obtain the image signal of the thrown ball photographed by the camera 31, from the preferable angle of view.
In FIG. 3, an area 102 b of the floor 102 in front of the net member 24 forms a slope. Further, a hollow 102 c is formed at a predetermined position, also as shown in FIG. 4, of the sloped area 102 b. The sloped area 102 b is the closer to the hollow 102 c, the lower the surface. Consequently, when the thrown ball which is flexibly stopped by the net member 24 is dropped on the sloped area 102 b, it is routed to the hollow 102 c by gravity. A device 28 which returns the ball is buried within the hollow 102 c, as shown by dotted line.
In FIG. 4, nine light sources L1 to L9 are arranged on the left wall 104, and emit vertical slit lights p1 to p9 to the opposite right wall 103. Each of the light sources is formed rectangular rod which extends from the floor 102 to the ceiling 101. The light sources L1 to L7 are arranged with a predetermined span (e.g., 3 feet). The light sources L7 and L8 are arranged at the positions corresponding to the front and back end of the home plate 2. That is, the span between the light sources L7 and L8 is equal to the length of the home plate 2, i.e., 17 inches. And, the light source L9 is arranged near the net member 24. As shown in FIG. 4, the distances from the net member 24 to the positions of the eight light sources L8 to L1 are fixed lengths z(8) to z(1), where z(8) is 2 feet 7 inches, z(7) is 4 feet, z(6) is 7 feet, z(5) is 10 feet, z(4) is 13 feet, z(3) is 16 feet, z(2) is 19 feet, and z(1) is 22 feet. And the distance from the net member 24 to the position of the light sources L9 is very short, e.g., the ball diameter which is about 2.8 inches.
FIG. 5A is a horizontal sectional view of the light source L1. As shown in FIG. 5A, the light source L1 (L2 to L9 are the same) includes a narrow rod light 91 such as a fluorescent lamp, a cylindrical lens 92 which only horizontally (not vertically) converges the light from the rod light 91, and a color filter 93 which only passes through red color light with its optical characteristics. FIG. 5B shows the light sources L1 to L3 (L4 to L9 are the same) which emit red vertical slit lights p1 to p3 to the opposite right wall 103 just like light curtains, whereby a thrown ball 80 will pass through “three light curtains” in turn.
FIGS. 6A to 6E show the images of the thrown ball 80 photographed by the camera 31. The images indicate the red light p1 reflected by the ball 80 when it passes through the position of the light source L1. When the ball 80 just reaches the position of the light source L1, the slit light p1 strikes on the surface of the ball 80. Consequently, as in FIG. 6A, the red light p1 reflected by the ball 80 takes the shape of a semicircle formed by the outline of the ball 80. When the ball 80 slightly passes that position, the red light p1 becomes the smaller semicircle as in FIG. 6B than in FIG. 6A. Then, the ball 80 the more slightly passing that position, the smaller semicircle as in FIG. 6C to 6D. And, when the end of ball 80 just reaches that position, the red light p1 becomes like a point as in FIG. 6E.
Consequently, the center of the diameter of the semicircle shown in FIG. 6A indicates the horizontal and vertical position of the ball 80 which just passes the position corresponding to the light source L1 which is the fixed lengths z(1), i.e., 22 feet from the net member 24. When the camera 31 sends the computer 21 the image signal of the semicircle, the computer 21 detects the position of the ball 80 passing through the longitudinal position corresponding to the light source L1. That is, the position is expressed three-dimensional coordinates: horizontal x(1), vertical y(1), and longitudinal z(1). Similarly, the camera 31 sends the computer 21 the image signal of the flying ball 80 which in turn passes through other eight positions corresponding to the light sources L2 to L9. Then the computer 21 detects three-dimensional coordinates: x(2) to x(9), y(2) to y(9), and z(2) to z(9). That is, the computer 21 detects the trajectory of the thrown ball 80 based on the image signal photographed by video camera 31 and outputs the detecting signal to the device 30.
FIGS. 7A and 7B show pictures on the screen 25 of the device 30. FIG. 7A shows the static pictures 25 s 1 to 25 s 4 and a dynamic picture 25 m 1 indicating a batter. The pictures 25 s 1 to 25 s 4 and 25 m 1 are displayed before the player makes preparation for throwing the ball. FIG. 7B shows the dynamic pictures 25 m 1 and 25 m 2 indicating a catcher. The pictures are displayed after the player begins to throw the ball. As shown in FIGS. 7A and 7B, the sloped area 102 b in front of the net member 24 (not shown in FIG. 7A) is the closer to the hollow 102 c, the lower the surface as described above. In FIG. 7B, an umpire's dynamic picture may be displayed at the back of the catcher's picture.
In FIG. 7A, the area 25 s 1 has 63 squares that consists of horizontal 7 ones and vertical 9 ones, some indicate judgments; home run (HR): three-base hit (3B): two-base hit (2B): single-base hit (1B): strike (S): and foul (F); and others without letter are ball judgments all. The area 25 s 2 indicating the batter's picture 25 m 1 is further divided three areas which indicate hit by pitch (HP): wild pitch (WP): and danger ball (BUZZ). The two areas 25 s 3 and 25 s 4 both indicate the wild pitch (WP). In this case, the right-handed batter's picture 25 m 1 is displayed on the area 25 s 2, but alternative case, a left-handed batter's picture will be displayed on the area 25 s 3, and the area 25 s 2 will indicate wild pitch. The thrown ball is stopped and dropped by the net member 24, so that the screen 25 of the display 30 is guarded against damage from the ball.
After the ball is stopped and dropped, the computer 21 judges the thrown ball based on its trajectory including speed, particularly the trajectory in a three-dimensional space over the home plate 2. According to the baseball rules, the strike region is the space having the top and bottom planes of the same as the home plate 2 and the height between the nee and elbow of the batter's picture displayed. That is, the computer 21 allow thrown ball to judge with at least two light sources L8 and L9. However, it is preferable to enjoy the virtual baseball game by arranging other light sources L1 to L7, because the catcher's picture 25 m 2 moves in response to the flying ball passing through the position corresponding to L1 to L7.
With viewing from the mound, as shown in FIG. 7B, the net member 24 is divided a visible area 24 a and an invisible area 24 b. Because the area 24 b corresponds to the screen of the display 30, the area becomes invisible by virtue of the diffuse reflection of the light from the screen, as is the case that small branches of a tree become invisible owing to the back light from the sun.
The catcher's picture 25 m 2 in FIG. 7B moves (changes) in response to the pitcher's action and the position of the thrown ball. FIG. 8 shows the catcher's picture 25 m 2 directing a target of the ball to the pitcher before throwing. In FIG. 8, the catcher's picture 25 m 2 includes a mitt 25 m 3, a mark 25 which indicates a final position of the ball, and a right hand 25 m 5 which indicates a request for a type of the ball to be thrown such as fastball, curve ball, slider, forkball, and the like. After throwing the ball, the catcher's picture 25 m 2 with mitt 25 m 5 moves in response to the trajectory of the ball (not shown). That is, the device 30 moves the catcher's picture 25 m 2 in response to the detecting signal output from the computer 21.
When the ball is stopped by the net member 24, the catcher's picture 25 m 2 moves as if catching the ball. FIGS. 9 to 11 show the catcher's picture 25 m 2 catching the ball 80. Further, the catcher's picture 25 m 2 moves in response to the position of the ball being dropped (not shown). As described above, the ball dropped on the sloped area 102 b is routed to the hollow 102 c by gravity.
As shown in FIGS. 7A and 7B, the returning ball device 28, as shown by dotted line but not shown in detail, is buried within the hollow 102 c. The device 28 has an oblique cylinder which introduces the ball routed to the hollow 102 c, and a mechanism, including a motor, a drive circuit for the motor, gears, and other parts, which pulls down the introduced ball pressing a solenoid, a spring, or air, and which expels the ball pulled down through the repulsion of the solenoid, spring, or air. The ball expelled from the device 28 flies toward the mound with a predetermined trajectory depending upon the oblique angle and the repulsion power. The mechanism of the device 28 is controlled by the computer 21.
FIG. 12 shows the catcher's picture which the right hand 25 m 5 moves in response to the trajectory of the ball 80 expelled from the device 28. Consequently, the pitcher feels as if the ball 80 is returned from the catcher's picture. Next, the pitcher will throw the same ball 80 received from the device 28, so that one ball is sufficient for one pitching room 100.
FIG. 13 is a block diagram of the system in the pitching room 100. In FIG. 13, the computer 21 is operatively connected to the console 22, video camera 31, camera controller 32, display device 30 which reads image to display from an image memory 45, returning ball device 28, light sources 43 (light source L1 to L9), as described above, and further connected to the system telecom 41, RAM 44, sound system 46, sensor interface 48, door driver 49, and mobile phone telecom 42.
The system telecom 41 communicates with the CMS 200 in FIG. 1 via wireless signal. The mobile phone telecom 42 communicates with the mobile phone 600 which is entered for the pitching room 100. The sound system 46 creates various audio sounds such as the catching sound, hitting sound, umpire's judging voice, and the like. The door driver 49 makes the door 105 a open/close depending upon the control of the computer 21. The sensor interface 48 input detecting signals of some sensors such as a door sensor which detects whether the door 105 a opens or closes, a plate sensor which detects whether pitcher's plate 1 is pressed by the pitcher or not, a sensor which detects whether the ball is introduced in the cylinder of the device 28, and the like. The RAM 44 stores various data input from the computer 21.
FIGS. 14A to 14G show the data formats being stored in the RAM 44. FIG. 14A indicates the score board indicating the virtual baseball game according to the present invention. FIG. 14B indicates the judgments based on the thrown ball; such as strikes (S): balls (B): outs (O): strikeouts (K): walks (WK): balks (BK): total number of runners (R): total pitch count (N): game time (TO) and the like. FIG. 14C indicates the four classes selected by the user via the console 22; beginner class such as for children (1), middle class (2), high class (3), and special class such as for professionals. FIG. 14D indicates the velocity of the thrown ball. FIG. 14E, for the high or special class, indicates whether the course of the ball is “OK” or “NG” based on the trajectory in a three-dimensional space over the home plate 2; or equivalently, it indicates whether the course is matched with the request indicated by the right hand 25 m 5 of the catcher's picture 25 m 2 in FIG. 8 or not. FIG. 14F indicates the judgment for every thrown ball. FIG. 14G indicates the momentum for every thrown ball. For example, the momentum is measured by the duration time from the ball first passes through the position of L9 to the ball turning back passes through the same position; or equivalently, it is measured by the distance that the net member 24 is pushed backward by impact of the ball.
FIG. 15 is a flowchart indicating the control of the computer 21 for the preferred embodiment of the present invention. In FIG. 15, the computer 21 determines whether an access from the CMS 200 is received via the system telecom 41 (Step 101). If Step 101 is “YES”, the computer 21 determines whether the access indicates a reservation for the pitching game (Step 102). If Step 102 is “YES”, the computer 21 determines whether the ID of the mobile phone (i.e., user) reserving is received (Step 103). If Step 103 is “NO”, the computer 21 requires the ID to the CMS 200 (Step 105). If Step 103 is “YES”, the computer 21 stores the ID into the RAM 44 (Step 104). Then, the computer 21 performs judging process (Step 106), and determines whether a flag STF is “0” or “1” (Step 108). If the STF is “1”, which means “playing”, the computer 21 continues to perform judging process at Step 106. If the STF is “0”, which means “standby”, i.e., not playing, the computer 21 determines whether next access is received at Step 101.
If Step 102 is “NO”; that is, the access does not indicate a reservation for the pitching game, the computer 21 determines whether the access is “predicted end time of the current game” (Step 109). If Step 109 is “YES”, the computer 21 estimates the end time based on the current score stored in the RAM 44 as shown in FIG. 14A (Step 110), and sends the estimated end time to the CMS 200 via the system telecom 41 (Step 111).
Accordingly, the CMS 200 determines at least one pitching room 100 which has sent the shortest end time, and determines whether the time is shorter than a threshold time, e.g., 5 minutes. When the time is shorter than the threshold time, CMS 200 accesses the mobile phone of the next user reserving game, and sends data indicating the threshold time and the pitching room number.
FIGS. 16 and 17 are flowcharts of judging process at Step 106 in FIG. 15. The computer 21 determines whether the STF is “0” (Step 201). If the STF is “0”, the computer 21 determines whether a demand for pitching is received from an outside mobile phone (Step 202). If Step 202 is “YES”, the computer 21 determines whether an ID of the mobile phone is the entered ID (Step 203). If Step 203 is “YES”, the computer 21 opens the door 105 a of the pitching room 100 (Step 204). Then, the user enters in the pitching room 100, and operates the console 22. The console 22 has a plurality of switches such as class setting switches 1 to 4, a start (enter) switch, a ball holder with a sensor for detecting the ball in the holder.
The computer 21 searches the switches of the console 22 (Step 205), and sets one class according to the user selection (Step 206). Then, the computer 21 sends the class data to the device 30 and causes the device 30 to display the initial picture on the screen 24 (Step 207). The initial picture indicates the class selected by the user, and the rules of this game: a maximum interval time of throwing ball (e.g., 15 seconds); ejection rules (game over) for many giving runs, headhunting or bean balls, or wild pitches; a premium which is changeable to goods or service, for an excellent game such as a perfect game, a no hitter, a shut out, and which stores in the mobile phone of the excellent user.
The computer 21 determines whether the start switch is changed to “ON” (Step 208). If Step 208 is “YES”, the computer 21 determines whether the ball is provided to the user (pitcher), by detecting that the sensor of the ball holder changes from “ON” to “OFF” (Step 209). If Step 209 is “YES”, the computer 21 sets the flag STF to “1”, i.e., “playing” (Step 210), and directs the device 30 to display the pitching guide pictures as shown in FIGS. 7A and 7B in turn (Step 229). Next, the computer 21 determines whether the plate sensor is “ON” (Step 211). If Step 211 is “YES” (pitcher begins throwing the ball), the computer 21 starts an internal timer (Step 212), and determines whether the ball is thrown (Step 213). When detecting the ball passing through the position corresponding to the light source L1 shown in FIG. 4, the computer 21 determines that the ball has been thrown. If Step 213 is “NO”, the computer 21 determines whether the timer is timeout (Step 214). If Step 214 is “YES” (maximum interval time lapses), the computer 21 judges this situation as “BALL” in spite of no throwing (Step 215). For example, 15 seconds lapse from the time when the pitcher's plate 1 is pressed, the computer 21 judges the situation as “BALL”.
If Step 213 is “YES”, the computer 21 detects the 3-dimensional position of the flying ball (Step 216), sends the detected position to the video display device 30 (Step 217), and directs the device 30 to display the picture directing a target of the ball shown in FIG. 8 (Step 218). Next, the computer 21 determines whether the ball position changes based on the image signal from the camera 31 (Step 219 in FIG. 17). If Step 219 is “YES”, the computer 21 sends the ball position to the device 30, and directs the device 30 to select the image from the image memory 45 for the ball position (Step 20), and to change from the current picture displaying on the screen to the new picture of the selected image (Step 221). Next, the computer 21 determines whether the ball arrives at the net member 24 by detecting the ball which passes through the position of the light source L9 (Step 222). If Step 222 is “NO”, the computer 21 repeats the routine from Step 219 to Step 221. In this routine, the catcher's picture moves in response to the 3-dimensional position of the flying ball.
If Step 222 is “YES” (ball arrives at the net member), the computer 21 judges the thrown ball (Step 223), and directs the device 30 to display the judgment (Step 224). For example, the device 30 displays the catcher's picture, such as FIG. 9, 10, or 11, e.g., as if catching the ball, when the judgment is “strike” or “ball”; or displays the batter's picture swinging the bat, when the judgment is “hit”. When the judgment is “wild pitch”, “hit by pitch, or “buzz”, however, device 30 displays another picture (not shown). In addition, the device 30 may display the umpire's picture which indicates the motion of “strike”, “ball”, and the like.
Next, the computer 21 stores the judged data, such as “strike”, “ball”, “hit”, “swing out”, “wild pitch”, and the like, into the RAM 44 (Step 225). And, the computer 21 controls the sound system 46 creating sound such as the catching sound caused by a virtual mitt and umpire's judging voice such as “strike” or “ball”, e.g., or hitting sound caused by a virtual bat (Step 226). Next, the computer 21 controls the device 28 returning the ball toward the mound (Step 227), and more directs the device 30 to display the catcher's picture returning the ball in response to the trajectory of the ball as shown in FIG. 12.
Next, the computer 21 determines whether the game is over (Step 228). If Step 228 is “NO”, the computer 21 returns in FIG. 16, and directs the device 30 to display the picture based on the judgment (Step 229). For example, the device 30 displays the pictures like FIG. 7A and FIG. 7B but not the same, for the next judgment. And, the computer 21 repeats the routine from Step 211 in FIG. 16 to Step 228 in FIG. 17 at every throwing, and progresses the virtual baseball game based on every judgment.
If Step 228 is “YES”, i.e., game over, the computer 21 sends the data stored in the RAM 44 to the CMS 200 (Step 230) via the system telecom 41, resets the flag STF to “0” (Step 231), and returns Step 101 in FIG. 15 to determine whether a new access from the CMS 200 for the next game.
The video camera 31, in order to output the image signal to the computer 21 as soon as possible, includes at least one color image sensor and an electronic circuit which drives the image sensor and an electronic circuit which processes the image signal photographed by the image sensor.
For example, if the velocity of the ball, which is thrown by a professional “heat” pitcher, is 99 mile/hour, the time when it passes through 3 feet, i.e., one span between two light sources, is about 20.7 milliseconds. The velocity of the ball thrown by a normal player is very slower than the former. Accordingly, it is sufficient that the camera 31 may output the image signal of one frame during 20 milliseconds. This is realized by using a CCD sensor or a CMOS sensor without any problems, however; the CMOS sensor is preferable for this purpose.
The CMOS sensor can independently output the different color image signals, such as primary-colors, i.e., red, green, and blue, or subtractive primaries, i.e., yellow, magenta, and cyan, so that the camera 31 with the CMOS sensor can clearly recognize the optical color images reflected by the thrown ball and output the image signal with high speed.
FIG. 18 is a partial block diagram showing the CMOS sensor having photographing elements 314 with primary-colors filters “R”, “G”, and “B”, a horizontal and vertical shift registers 311, 312 which are the “X-Y address scanning”, and FET switches 313. The FET switches 313 output red color image signal (Rout), green color image signal (Gout), and blue color image signal (Bout) independently.
FIG. 19 is the electronic circuit which processes image signals Rin, Gin, and Bin output from the CMOS sensor in FIG. 18, and FIG. 20 shows schematically signal forms in the circuit of FIG. 19. In FIG. 20, each of image signals Rin, Gin, and Bin commonly includes white color (i.e., all colors) signals (W). In FIG. 19, an AND circuit 315 calculates the product of Rin, Gin, and Bin, and outputs the common W. Each of three subtract circuits 316 respectively subtracts W from Rin, from Gin, and from Bin, and outputs Rout, Gout, and Bout each of which includes no W. A RATIO circuit 317 outputs R-ratio, G-ratio, and B-ratio signals to each subtract circuits 316 respectively, according to a feed back signal input when installing or maintaining. If the color spectrum of the light sources L1 to L9 corresponds to that of Rout, as shown in FIG. 5A, the RATIO circuit 317 outputs R-ratio signal “1”, and G-ratio and B-ratio signals “0”s based on the feed back signal. As a result, a SUM circuit 318 which sums Rout, Gout, and Bout from the three circuits 316 only outputs Rout corresponding to the color spectrum of the light sources. If the color spectrum of the light sources different from that of Rout, Gout, or Bout, the feed back signal is generated so that the color spectrum of the output signal from the SUM circuit 318 may correspond to that of the light sources.
The light sources L1 to L9 may be arranged on the right wall 103 or the ceiling 101. With arranging on the ceiling 101, the light sources emit horizontal slit lights to the opposite floor 102.
Each of the light sources L1 to L9 may emit different color light such as red, green, and blue colors, depending upon the own position. For example, each color of L1, L2, L3, L4, L5, L6, L7, L8, and L9 is red, green, blue, red, blue, green, green, red, and red. In this case, the SUM circuit 318 in FIG. 19 will be omitted. That is, the CMOS sensor will output three colors image signal to the computer 21. The computer 21 will detect the position of the flying ball based on each color image signal depending upon its longitudinal position.
In addition, the CMOS sensor can photograph a part of one frame based on the “X-Y address scanning” which is well known techniques. FIG. 21 shows detecting the position of the flying ball. For example, as shown in FIG. 21, the camera 31 with the CMOS sensor can photograph a small area (e.g., area3) in one frame by predicting based on a small area (area2) in which the ball and its vector are detected in a previous frame. Similarly, the camera 31 can photograph a small area (e.g., area4, 5 and the like) based on a small area (area3, 4 and the like) in a previous frame.
In another embodiment according to the present invention, a robot is placed on the floor 102 at the back of the home plate 2 instead of the net member 24. FIG. 22 is a perspective view of the robot in this embodiment. The robot has a pivotable base actuator M11, which is jointed on the floor 102, and through which the power and signal are supplied, a body 270 which includes a receiver for receiving the detecting signal output from the computer 21 and a controller for processing the detecting signal, a left arm, jointed to the body through an actuator M1, having an elbow actuator M2, a wrist actuator (not shown), and a hand with a mitt device 271 which includes a shock absorber, a right arm, jointed to the body through an actuator M3, having an elbow actuator M4, a wrist actuator M5, and a hand with finger actuators M6 for indicating to request a type of the next ball to be thrown; such as fastball, curve ball, slider, forkball, or the like, a left leg having knee and ankle actuators M7, M8, a right leg having knee and ankle actuators M9, M10, and a head 272, jointed to the body, having a display for indicating the next ball as well as the finger actuators M6. The controller controls all actuators so as to catch the thrown ball with the mitt device 271 by processing the detecting signal, and controls the right hand taking it from the mitt device 271 and throwing it back toward the pitcher.
While the present invention has been described in conjunction with the exemplary embodiments and configurations outline above, it is evident that the embodiments and configurations described above are indicative of additional alternative embodiments and configurations and combinations of design parameter values, as will be apparent to those skilled in the art having benefit of this disclosure. Accordingly, the embodiments of the present invention, as set forth above, are intended to be illustrative, not limiting. Various changes may be made without departing from the split and scope of the present invention.

Claims

1. A system for pitching of baseball comprising:

a pitching room having a space which is enclosed with right and left walls, front and back walls, a ceiling, and a floor having a mound from which a player will throw a ball and a home plate by which the thrown ball will be judged depending upon its trajectory, wherein the distance between the mound and home plate is adaptable for the baseball or softball rule for adults and kids;

a fiber net member placed in the back of the home plate and held a tension by the ceiling, floor, and right and left walls, for flexibly catching the thrown ball and for dropping it on the floor;

a plurality of narrow light sources arranged on at least one side of the ceiling, floor, right wall, and left wall at different positions between the mound and home plate, wherein each light source emits slit light to the opposite side;

a video camera for photographing optical images reflected by the thrown ball which in turn passes through the positions corresponding to each light source and for outputting image signal; and

a computer for detecting three-dimensional positions of the thrown ball based on the image signal output from the video camera and for outputting the detecting signal.

2. The system according to claim 1, wherein each light source emits a specific color light by which the video camera can clearly recognize the optical images reflected by the thrown ball and can output the image signal with high speed.

3. The system according to claim 2, wherein the video camera has a CMOS image sensor which outputs the color image signal having the color spectrum substantially corresponding to that of the specific color light emitted by each light source.

4. The system according to claim 1, wherein the plurality of light sources emit different color lights depending upon each longitudinal position.

5. The system according to claim 4, wherein the video camera has a CMOS image sensor which outputs the color image signal having the color spectrum substantially corresponding to that of the specific color light emitted by each light source.

6. The system according to claim 2, wherein each light source has an optical filter only passing the specific color light.

7. The system according to claim 4, wherein each light source has an optical filter only passing the specific color light.

8. The system according to claim 1, further comprising: a video display device placed at the back of the fiber net member for displaying a catcher's picture moving in response to the detecting signal output from the computer, as if to catch the thrown ball.

9. The system according to claim 1, wherein the computer judges the ball passed through three dimensions above the home plate based on the detecting signal, and provides the progress of the virtual baseball game based on the judgment.

10. The system according to claim 1, further comprising: a slope formed on the floor where the fiber net member drops the ball thereon; and a device for setting the ball which is routed by gravity on the slope and for throwing back the ball toward the pitcher.

11. The system according to claim 1, further comprising a robot instead of the fiber net member, the robot comprising:

a pivotable base which is jointed to the floor and through which the power and signal are supplied;

a body including a receiver for receiving the detecting signal output from the computer and a controller for processing the detecting signal received by the receiver;

a left arm which is jointed to the body through an actuator and which has an elbow actuator, a wrist actuator, and a hand with a mitt device including a shock absorber; and

a right arm which is jointed to the body through an actuator and which has an elbow actuator, a wrist actuator, and a hand with finger actuators for indicating to request a type of the next ball;

wherein the controller controls all actuators so as to catch the thrown ball with the mitt device based on processing the detecting signal, then to throw it back with the right hand toward the player.

12. The system according to claim 11, further comprising: a head which is jointed to the body and which has a display for indicating to request the same type of the next ball as indicated by the finger actuators.

13. The system according to claim 1, further comprising: a wireless communication device for receiving a reservation to play game from a customer's mobile phone, and for transmitting information on timing for playing to the mobile phone.

14. The system according to claim 1, wherein the system is installed in a store providing merchandise and/or service, and further comprising:

a management device for discounting a playing fee to a person based on purchase price to the person, and discount selling price to a person based on excellent pitching game by the person.

15. The system according to claim 14, wherein the fee for the provided merchandise and/or service is paid through the electronic cash via the mobile phone using for pitching game.