WO2017135690A1 - Appareil de détection et procédé de détection destinés à être utilisés dans un dispositif d'entraînement au baseball, et dispositif d'entraînement au baseball utilisant cet appareil et ce procédé, et procédé de commande associé - Google Patents

Appareil de détection et procédé de détection destinés à être utilisés dans un dispositif d'entraînement au baseball, et dispositif d'entraînement au baseball utilisant cet appareil et ce procédé, et procédé de commande associé Download PDF

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Publication number
WO2017135690A1
WO2017135690A1 PCT/KR2017/001107 KR2017001107W WO2017135690A1 WO 2017135690 A1 WO2017135690 A1 WO 2017135690A1 KR 2017001107 W KR2017001107 W KR 2017001107W WO 2017135690 A1 WO2017135690 A1 WO 2017135690A1
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WIPO (PCT)
Prior art keywords
ball
image
baseball
virtual
user
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Ceased
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PCT/KR2017/001107
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English (en)
Korean (ko)
Inventor
고봉경
주상현
김세환
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Golfzonnewdin Co Ltd
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Golfzonnewdin Co Ltd
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities

Definitions

  • the present invention is a so-called screen baseball that the user pitches the ball toward the screen in the mound based on the virtual baseball image projected on the screen in the indoor space of a predetermined size and the sensing device senses this to implement a simulation image according to the sensing result
  • a baseball practice apparatus such as a system, a sensing apparatus used for the same, a sensing method, and a control method of the baseball practice apparatus.
  • a screen baseball system is provided with a mound in which a user pitches in a room of a predetermined size and a screen for displaying a virtual baseball field, and the user moves the ball from the mound toward the screen.
  • the sensing device senses the movement of the pitched ball and implements an image for the baseball game progress based on the sensing result.
  • a plurality of light sensor devices constituted by a plurality of light emitting sensors and light receiving sensors are installed on a road where a ball pitched by a user passes and a ball passes through the light sensor device.
  • the light emitted from the light emitting sensor is reflected by the ball to receive the coordinate information of the ball in each of the plurality of light sensor devices, the parameters such as the speed, direction, etc. for the pitch or hitting was calculated based on this.
  • an accurate and fast movement of a ball is performed by acquiring an image of the movement of the ball pitched by the user and analyzing the acquired image in a baseball practice device for a user's baseball practice or a baseball game.
  • Image sensing based sensing device and sensing method that can calculate and accurately calculate various kinds of information needed for baseball practice or baseball game based on the model, baseball practice device and control method using the same It is to provide.
  • Sensing device a baseball practice device that allows a user to play a baseball practice or baseball game by pitching the ball toward the screen in the mound based on the virtual baseball image projected on the screen
  • a sensing device used comprising: a camera unit for capturing an image of a ball pitched and moved by a user; And a function of a coordinate system of a three-dimensional space and a ball motion in each coordinate axis direction that the user plays in advance, and analyzes an image captured and collected by the camera unit on each image of the ball moving.
  • the sensing method based on the virtual baseball image projected on the screen baseball practice that allows the user to play the baseball practice or baseball game in a way to pitch the ball toward the screen in the mound
  • a sensing method of a sensing device used in a device comprising: photographing an image of a ball pitched and exercised by the user; Analyzing coordinate images collected and detecting coordinate data in three-dimensional space on each image of a moving ball; A ball motion model for a ball pitched and moved by the user by applying coordinate data of the detected ball to a predefined function for ball motion in each predefined coordinate axis direction in the three-dimensional space the user plays Calculating; And calculating sensing information for realizing a virtual baseball image according to the pitching of the user using the calculated ball exercise model.
  • a control method of a baseball practice device comprising: realizing an image relating to a baseball practice or a baseball game including a virtual batter and a virtual catcher by a controller for implementing an image for the baseball practice or a baseball game;
  • the sensing device captures and collects an image of a ball being pitched and moved by the user, and analyzes the collected image to detect coordinate data in three-dimensional space with respect to the moving ball, and uses the detected coordinate data. Calculating a ball movement model for the ball to be moved; And controlling the image by the controller to perform at least one of the virtual batter, the virtual catcher, and the virtual referee with respect to the virtual ball according to the calculated ball motion model. It includes.
  • baseball practice apparatus based on the virtual baseball image projected on the screen baseball to enable the user to play baseball practice or baseball games in a way to pitch the ball toward the screen in the mound
  • An exercise device which is photographed and collected by a ball pitched and exercised by the user, and the collected image is analyzed to detect coordinate data in three-dimensional space on each image of the ball to be moved, and the user plays.
  • a sensing device for calculating the sensing information and a video for a baseball practice or a baseball game including a virtual batter and a virtual catcher, and receiving the sensing information from the sensing device, the virtual batter and the virtual batter for the virtual ball based on the sensing information.
  • At least one of the catchers of the control unit for performing a baseball practice or a baseball game by implementing a video to perform a predetermined action or action according to a predetermined AI.
  • the sensing device and the sensing method used in the baseball practice apparatus according to the present invention, the baseball practice apparatus and its control method using the same, the movement of the ball pitched by the user in the baseball practice apparatus for the user's baseball practice or baseball game By acquiring an image of and analyzing the acquired image, we can generate an accurate and fast exercise model of what the ball is doing, and use it as a basis for quite a variety of information that is necessary for baseball practice or baseball game progression. There is an effect that can be calculated quickly.
  • FIG. 1 shows an example in which a virtual baseball simulation system, that is, a so-called screen baseball system, is implemented as a baseball practice apparatus according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the configuration of the baseball practice apparatus shown in FIG.
  • FIG. 3 and 4 are views showing a baseball practice apparatus according to another embodiment and another embodiment of the present invention, respectively.
  • FIG. 5 is a flowchart showing a sensing method of a sensing device and a control method by a control device in the baseball practice device having the configuration shown in FIG. 2.
  • FIG. 6 is a view illustrating an image captured by one camera of a camera unit of a sensing device according to an embodiment of the present invention.
  • FIG. 6 illustrates a ball image displayed on an image of a plurality of frames at one time. To illustrate the process of determining the ball motion model.
  • FIG. 7 is a diagram for describing a determination method of a ball motion model by considering a case in which a sensing ball hits a wall, a ceiling, or the like, according to an embodiment of the present disclosure.
  • FIG. 8A illustrates an example in which an image about a virtual batter and a virtual catcher projected on a screen is implemented in a baseball practice apparatus according to an embodiment of the present invention. It is a figure which shows about the example regarding the process on a phase, and FIG.8 (b) is a figure for demonstrating more clearly that the ball as shown in (a) is simulated.
  • FIG. 9 is a diagram illustrating a case in which a baseball practice apparatus according to an embodiment of the present invention processes the image on the ball pitched by the user in a manner different from that shown in FIG.
  • the "baseball practice apparatus" as well as indoor baseball practice system that provides the user with sensing information about the ball that is exercised for pitching the ball toward the screen so that the user can practice the pitch, indoors If a user installs a mound for pitching and displays a virtual baseball field in a space of a predetermined size, and the user pitches the ball from the mound toward the screen, the sensing device senses the movement of the pitched ball. Based on the sensing result is defined as a concept including all of the virtual baseball simulation system for implementing a variety of images on the screen and will be described in detail below.
  • FIG. 1 shows an example in which a virtual baseball simulation system, that is, a so-called screen baseball system, is implemented as a baseball practice apparatus according to an embodiment of the present invention
  • FIG. 2 is a block showing the configuration of the baseball practice apparatus shown in FIG. It is also.
  • baseball practice apparatus provides a mound 30 and the screen 20 in the space formed by the side wall 11 and the rear wall 12, etc., the mound In 30 it is implemented so that the user can pitch the ball (1).
  • control device 300 for processing information about a baseball simulation image to be projected on the screen 20 may be provided (control device ( The image processed at 300 is projected onto the screen 20 through the image output unit 420).
  • the virtual batter VB is preparing to hit the ball pitched by the user P2 on the image IM projected onto the screen 20.
  • Baseball practice apparatus can be configured as a system that enables the user to play a baseball game or a baseball game pitching the ball in the mound, as well as a baseball practice or baseball game that the user hits the ball. .
  • the mound 30 is a turn at bat when the user hits the ball.
  • a ball pitching device (not shown) is installed at the rear of the screen 20 and a pitching hole (not shown) is formed on the screen 20. It can be configured in such a way as to shoot the ball to the plate at the pitching device. An example of this will be described later with reference to FIG. 4.
  • the baseball practice apparatus according to an embodiment of the present invention, the control device 300 and the sensing device 200 as shown in Figs. It may be configured to include. If the user is a system that can not only ball pitching but also hitting the ball may also be included in the present invention.
  • the present invention provides the pitching when the user pitches the ball. Since the physical interpretation of the ball to be exercised by and to implement the image for the baseball practice or baseball game based on this, the present invention will be described below in the case of the user can only pitch the ball as well as ball pitching It shall be included until both the ball and the ball hit can be done.
  • the sensing device 200 is a method for sensing the object on the image by analyzing the photographed image, by acquiring and analyzing the image for a certain shooting range including the mound 30 to the ball pitched by the user Calculating the ball movement information on the ball, calculating the time when the ball pitched by the user reaches the screen, the position when the ball reaches the screen, and the like.
  • the sensing device 200 may include a camera unit 210 and a sensing processing unit 220.
  • the camera unit 210 may include a mound 30. Acquiring an image for a predetermined shooting range continuously, the sensing processing unit 220 receives the image from the camera unit 210 and performs an image analysis according to a preset matter by using a baseball practice device or Calculate the information needed for a baseball game.
  • the camera unit 210 of the sensing device 200 photographs the same photographing range at different locations, respectively, to calculate three-dimensional position information of the object on the photographed image.
  • the sensing processing unit 220 By configuring the stereoscopic method including the camera 212, the sensing processing unit 220 to obtain the three-dimensional coordinate data for the ball through the analysis of the image taken by the camera unit 210 This is preferred.
  • the sensing processing unit 220 receives and collects images captured by each of the first and second cameras 211 and 212 of the camera unit 210, and analyzes each of the collected images. Find 3D coordinate data for each ball and use the extracted 3D coordinate data to determine the motion model of the ball pitched and moved by the user. Various information required for baseball practice or baseball game using the baseball practice apparatus is calculated.
  • the motion model of the ball is represented by the equation of motion relating to the trajectory on the three-dimensional space of the ball to be pitched or hit motion, as shown in Figure 1 baseball by the baseball practice apparatus according to the present invention
  • the motion model of the ball may be determined according to the defined coordinate system by defining the three-dimensional coordinate system of the x-axis, the y-axis, and the z-axis with respect to the space where the practice or baseball game is made.
  • the motion model of the ball may be defined as a motion equation in the x-axis direction, a motion equation in the y-axis direction, and a motion equation in the z-axis direction. More details on this will be described later.
  • the sensing device 200 calculates the ball motion information and transmits it to the control device 300, the control device 300 implements a simulation image for the ball motion based on the received ball motion information
  • the image output unit 420 may be projected onto the screen unit 20.
  • control device 300 may include a data storage 320, an image processor 330, and a controller 310 as shown in FIG. 2.
  • the data storage unit 320 is a part for storing data for processing, such as a baseball simulation image made in the baseball practice device.
  • the data storage unit 320 may be configured to serve as a storage for temporarily storing data received from a server (not shown).
  • the image processing unit 330 may include a background image such as an image of a virtual baseball field, an image of a player, a referee, an audience, and the like, an image of a virtual catcher, a virtual batter, a virtual referee, and the like waiting for the ball to be pitched by the user;
  • a background image such as an image of a virtual baseball field, an image of a player, a referee, an audience, and the like, an image of a virtual catcher, a virtual batter, a virtual referee, and the like waiting for the ball to be pitched by the user
  • processing is performed according to a preset program for image data, and the processed image is transmitted to the image output unit 420 and the image is transmitted.
  • the output unit 420 outputs an image such as projecting the received image to the screen unit 20 so that a user can see it.
  • the control unit 310 controls the respective components of the baseball practice apparatus according to the present invention and based on various information transmitted from the sensing device 200 for various kinds of baseball simulation images, such as simulation for the trajectory of the hit ball Perform the operation.
  • baseball practice apparatus when the user P2 pitches the ball (1) in the mound 30 as shown in Figure 1 that the sensing device 200 (see Figure 2) to calculate The virtual ball implemented based on the sensing information enters the virtual catcher on the image IM projected onto the screen 20.
  • the virtual batter VB on the image IM may swing or filter the virtual ball based on the pitched ball of the user, may swing to hit the virtual ball, or swing the hut. You can also do
  • the control device of the baseball practice apparatus implements the image so that the virtual batter (VB) to the action of hitting, swinging, swinging the ball on the virtual ball based on the pitched ball of the user as described above
  • the action of the virtual batter (VB) may be made according to a predetermined AI (Artificial Intelligence: game character), or another user to operate the terminal hit the virtual batter (VB), You can also take action such as swinging the ball and skipping the ball.
  • AI Artificial Intelligence: game character
  • the user in the baseball practice apparatus (conventionally referred to as 'first device') according to the present invention (Conventionally referred to as 'first user') pitches the ball, and in other baseball practice devices (conventionally referred to as 'second device') another user (conventionally referred to as 'second user') hits the ball.
  • the user can be configured to attack and defend through a different device, respectively, wherein the ball pitching device in the second device to the ball throwing the ball to the second device for the first user ball pitching in the first device
  • the baseball game may be played in such a manner that the virtual batter VB on the image IM hits the virtual ball in the first device.
  • FIG 3 illustrates a case where a virtual batter performs an action according to the manipulation of another user by another user operating the terminal when the user pitches the ball.
  • a user other than the user P2 pitching the ball manipulates the terminal 400 which is provided for wired or wireless communication with the control device 300. It is configured to control the action of.
  • the terminal 400 provides an image of the same batter as the virtual batter VB on the image IM projected on the screen 20 to prepare for hitting the ball pitched by the pitcher.
  • the input information is transmitted to the control device 300, and the control device 300 is pitched by the user P2.
  • the virtual batter VB hits or misses the virtual ball according to the information (information received from the control device) input through the terminal 400.
  • the virtual batter VB may skip the ball.
  • Figure 4 is the second device in the attack and defense between the first device and the second device with respect to the ball pitched by the first user in the first device, the second user in the second device hit, miss swing, ball filtering, etc. As shown in the drawing, the case where the virtual batter on the image performs the action in the first device is shown.
  • the RM1 uses a first device to play a baseball game in such a manner that the first user P1 pitches the ball 1 against the virtual batter VB on the image IM in the mound 30.
  • RM2 refers to a play space for playing a baseball game in a manner in which the second user P2 strikes the ball 1a emitted from the ball pitching device 100 at the plate 30a using the second device. Refers to space.
  • the first device of the RM1 has the same configuration as the baseball practice device according to the embodiment of the present invention shown in FIG. 1, and the second device of the RM2 also includes the sensing device 200a and the control device 300a with the first device. Equally provided, the second device is provided with a ball pitching device 100 on the back of the screen (20a), pitching so that the ball (1a) from the ball pitching device 100 can be launched into the plate at 30a The hole 22a is formed.
  • the ball pitching device and the pitching hole are not shown in the drawings, the first device may be provided in the same manner.
  • the first device of the RM1 and the second device of the RM2 may be devices having the same configuration, and may be configured to allow both attack and defense in one device.
  • control device 300 of the first device and the control device 300a of the second device are respectively connected to the server S to exchange data with each other through the server S. It is composed.
  • the sensing device 200 senses the calculated value and calculates the sensing information, and the control device 300 controls the server S to calculate the sensing information. To send.
  • the server S transmits the sensing information received from the control device of the first device to the control device 300a of the second device, and the control device 300a of the second device has a ball corresponding to the received sensing information. Controls the ball pitching device 100 so as to fire.
  • the ball pitching device 100 launches the ball 1a in accordance with the ball pitching of the first user P1 in the second device
  • the second user P2 may hit, miss, or filter the ball and senses it.
  • the device 200a transmits the sensing information generated by sensing the generated information to the control device 300a
  • the control device 300a transmits the sensing information to the server S.
  • the server S transmits the sensing information to the control device 300 of the first device, and the control device 300 of the first device uses the image IM based on the sensing information received from the server S.
  • the virtual batter (VB) of the image is implemented to perform an action such as hitting, swinging, and skipping the ball on the virtual ball.
  • the first user P1 playing in the RM1 and the second user P2 playing in the RM2 can enjoy the virtual baseball game as if they were playing an actual baseball game while attacking and defending each other.
  • the control device is an image of the virtual environment for the baseball practice or baseball game (for example, the image of the audience cheering at the baseball field) Etc.) and an image including a virtual catcher, a virtual batter, a virtual referee, and the like in the virtual environment (S210).
  • the image of the virtual catcher and the virtual batter is basically implemented, and the virtual referee may be included in the image or included in some cases. It may not be.
  • the controller waits until the sensing information is received from the sensing device in a state where an image including a virtual catcher, a virtual batter, a virtual referee, and the like is implemented in the virtual environment.
  • the camera unit of the sensing device continuously acquires the image of the shooting range and the acquired images are collected by the sensing processing unit (S100).
  • the sensing processing unit analyzes each of the collected images to detect a ball on each image (S110).
  • the detected ball may be a ball that is actually moving, but may be a ball lying on the floor of the play space or may include other noise.
  • step S110 what is detected in step S110 is a ball candidate.
  • Ball candidates on each of the images may be detected through several steps of the ball detection process.
  • the sensing processing unit stores an image previously photographed before the ball moves by the camera unit as a reference image.
  • the trigger is generated by the trigger process after the actual ball is pitched by the user, it is also possible to store the image as the reference image.
  • the trigger is generated when a predetermined area is set in the image and the ball is detected in the predetermined area, and the sensing processing unit analyzes a predetermined number of images before and after the trigger point based on the trigger time point. Process such as detection is performed.
  • a threshold value of a pixel value (brightness value) for pixels on the image is preset for the difference image, and the difference image is binarized based on the preset threshold value (a pixel value exceeding the threshold value). Pixels with white are binarized with pixels that are not).
  • the pixel value that is, the brightness value
  • the moving ball is mostly white and the remaining parts are black. It can be detected.
  • the sensing processing unit extracts a contour of a portion that appears in white from the binarized image, and for each extracted contour, a predetermined ratio such as aspect ratio, size of contour, brightness inside the contour, and the like is set.
  • the sensing processing unit presets the range of aspect ratio, size range, internal brightness range, etc.) for the ball, for example, when the extracted contour is long and the aspect ratio is out of the preset range. If the size of the extracted contour is out of the preset size range or is too small, the valid contours of the extracted contours are selected as the candidates for ball extraction. May contain balls or other noise lying on the floor).
  • the sensing processing unit displays the number of frames when the ball candidate first appears on the image or the time stamp value at this time, and the time when the ball starts pitching.
  • the value is detected as an initial time value (S120).
  • the sensing processing unit calculates the three-dimensional coordinates for each of the ball candidates detected on each image in the manner described above (S130).
  • the calculation of the three-dimensional coordinates can be performed by using coordinate information obtained from each of the acquired image of the first camera and the acquired image of the second camera for the same object.
  • the three-dimensional coordinate acquisition of the object using the stereo camera system has already been obtained. Since it is a known technology, description thereof will be omitted.
  • the sensing processing unit establishes an arbitrary ball motion model for arbitrary ball candidate coordinates using the three-dimensional coordinate data for the ball candidate calculated as described above (S140), and the initial detection detected in step S120.
  • the initial value of the ball is calculated by applying the time value to an arbitrary ball motion model (S150), and the ball candidate included in the corresponding ball motion model when the calculated initial coordinate value of the ball exceeds a preset range is removed. By removing the non-ball among the ball candidates in a manner to detect the coordinate data for the ball (S160).
  • the sensing processing unit determines a ball motion model for the ball being pitched and moved by the user using the detected ball coordinate data as described above (S170).
  • the ball motion model may be determined by obtaining a motion equation of each axis direction in the spatial coordinate system of the x-axis, y-axis and z-axis as illustrated in FIG. 1 using the three-dimensional coordinate data of the ball.
  • Baseball practice apparatus according to an embodiment of the wall is pitched by the user when the ball is made in a limited space (for example, a space formed by the side wall 11, the rear wall 12, etc. as shown in Figure 1) It is preferable to establish and determine the above-described ball motion model in consideration of the case of collision with the ceiling.
  • FIG. 6 is a view illustrating an image captured by a camera of one of the camera units of the sensing device.
  • FIG. 6 is a view illustrating a ball image t1 to t11 appearing on an image of a plurality of frames at one time, according to an embodiment of the present invention. To detect the ball from the image and to determine the process of determining the ball motion model.
  • FIG. 7 is a view for explaining the determination of the above-described ball motion model in consideration of the case where the pitched ball hit the wall, ceiling, and the like.
  • the spatial coordinate system is the same as the coordinate system along the x-axis, y-axis and z-axis shown in FIG.
  • the image captured and collected by the camera unit of the sensing device includes not only the user 10 pitching the ball at the mound 30, but also the balls t1 to t11 being pitched and moving toward the screen. All the parts (n1 to n8) corresponding to the ball and other noises lying on the floor also appear.
  • the sensing processing unit of the sensing device is defined in advance in the function of the x-axis direction, the function of the y-axis direction and the function of the z-axis direction for the ball motion in order to establish the motion model of the ball, shown in Figure 6
  • a motion equation in each axial direction with respect to the ball motion can be determined to establish a ball motion model.
  • each axial direction used in the modeling and determination of the motion model of the ball can be defined as follows, for example with some assumptions.
  • the y-axis motion with respect to the time of the moving ball can be assumed to be a constant velocity motion, it can be expressed as a first-order function of time as follows.
  • t denotes a time value
  • y denotes a y-direction coordinate value
  • a_y denotes an increase amount of the y-direction coordinates with respect to time (the slope of the function)
  • b_y denotes a y-direction coordinate value (intercept) when t is zero.
  • the x-axis motion with respect to the time of the moving ball can also be assumed to be a constant velocity motion, it can be expressed as a first-order function for the following time.
  • t is a time value
  • x is an x-direction coordinate value
  • a_x is an amount of increase of the x-direction coordinates (slope of the function) with respect to time
  • b_x means an x-direction coordinate value (intercept) when t is zero.
  • the z-axis motion along the time of the moving ball can be assumed to be an equivalent acceleration motion in which gravity always acts, it can be expressed as a quadratic function with respect to time as follows.
  • g gravity acceleration
  • t time value
  • z z-direction coordinate value
  • a_z z-direction velocity when t is 0
  • b_z z-direction coordinate value (intercept) when t is 0.
  • each of the ball candidates t1 to t11 and n1 to n4 are calculated.
  • each of the ball candidates can know the time value together with the three-dimensional coordinate data (for example, when there is a ball candidate appearing in the image of the n-th frame, the time number is described with the frame number or timestamp value of the ball candidate. Can be stored).
  • a ball moving from b1-> b2-> b3-> b4 collides with an obstacle LM such as a wall or a ceiling and bounces from r1-> r2.
  • the original motion model to be obtained is the motion model MDa of the ball moving from b1-> b2-> b3-> b4-> v1-> v2, and therefore, r1 and r2 should be removed.
  • two or more of the above ball candidates are randomly selected (to a predetermined number), and the coordinate data of each of the selected ball candidates is applied to the function of each axis direction.
  • Arbitrary motion models are established by establishing motion equations for each axis.
  • the initial coordinate value of the ball can be confirmed by substituting this into the arbitrary exercise model.
  • the initial time value is substituted into the arbitrary exercise model MDb to determine the starting point coordinate value of the ball motion.
  • the starting point coordinate of the ball motion of any motion model MDb will be ro1.
  • 'coordinate data included in the motion model' refers to coordinate data in which the coordinate value exists on the established motion model as well as the coordinate data that does not exist on the motion model but is close to a certain level. It will be defined to include all.
  • 'proximity to a certain level' refers to a case in which an error range is preset through a plurality of experiments and data exists within the preset error range.
  • the term 'coordinate data including the motion model' will be used to mean coordinate data within an error range preset for the motion model as described above.
  • the coordinate data of the ball lying on the floor is selected to establish an arbitrary motion model as described above, and the initial coordinate value is obtained. If it is confirmed, since it also exists outside the play space by the baseball practice apparatus, all coordinate data included in the exercise model arbitrarily established by the coordinate data of the said noise can be removed.
  • invalid data may be removed through a process for establishing an arbitrary motion model and checking initial coordinate values, and thus, the final motion model of the ball may be determined from the remaining data. .
  • some noise may remain even after removing invalid data through a process relating to the establishment of an arbitrary motion model and confirmation of initial coordinate values.
  • the ball's motion model can be established based on the predominant data among the distributed data such as the RANSAC algorithm to determine the exact motion model of the ball.
  • the final model of the motion of the ball can be determined by removing all of them.
  • the exercise model MD connected to t1-> ...-> t11 can be determined as the exercise model of the ball with respect to the ball pitched by the user.
  • the exact motion model such as MD may not be calculated due to the influence of some noise, but when the motion model is obtained by the above method, it is possible to determine a high-accuracy motion model whose error range is almost negligible. .
  • the sensing device is not valid when the number of data included in the motion model of the ball finally determined in the manner as described above is very small (this may set the number of data in advance). It can be judged as a motion model based on the data and all can be judged as noise.
  • the baseball practice device may notify the user that the pitch is an error and allow the player to proceed to play again.
  • the motion model of the pitched ball may be determined by performing the steps S110 to S170 in the same manner as described with reference to FIGS. 6 and 7.
  • the sensing processing unit applies the coordinate information of the screen to the determined ball motion model, that is, the time when the ball reaches the screen, that is, the screen
  • the arrival time is calculated (S180).
  • the y-axis coordinates of the screen are always fixed values. Therefore, by applying the y-axis direction coordinate information of the screen to the determined ball motion model, it is possible to calculate the time that the pitched ball reaches the screen, that is, the screen arrival time.
  • the calculated screen arrival time can be applied to the determined ball motion model again to determine the remaining x-axis and z-axis coordinates (y-axis coordinates are already fixed).
  • the coordinate information in the x, y, z-axis directions determined as described above becomes position coordinates at which the ball reaches the screen, that is, coordinate information corresponding to the screen arrival position (S180).
  • the sensing processing unit calculates a motion parameter of the ball (eg, the speed, direction, height angle, etc. of the ball at the screen reach position) according to the ball model finally determined as described above, and the screen arrival time information as described above. And transmits it to the control device as 'sensing information' along with the screen arrival position information (S190).
  • a motion parameter of the ball eg, the speed, direction, height angle, etc. of the ball at the screen reach position
  • the controller When the controller receives the 'sensing information' from the sensing apparatus (S220), the controller prepares an image based on the received sensing information (S230). For example, the virtual batter may implement an image in which the swing batter starts to take a swing motion to hit the ball, or the virtual catcher may move the catcher glove to a position for catching the ball.
  • the control device applies the ball movement model to the ball movement model from the screen reach position with respect to the ball pitched by the user.
  • a simulation image is implemented to continuously progress the ball on the basis of the step (S250).
  • the virtual batter may be set to perform a predetermined action in the image or hit the ball, swing the ball, or skip the ball according to the AI (Artificial Intelligence for the game character) preset for the character who is the virtual batter.
  • the control device implements an image for this case (S260).
  • a user other than the playing user manipulates the terminal 400 (see FIG. 3) to perform an action such as hitting the ball, swinging the ball, or skipping the ball.
  • another user may use a different baseball practice device to hit a ball, a ball swing, or a ball against a ball that is fired from a ball pitching device (the ball is fired according to the ball pitching of the user).
  • the virtual batter may also perform the same action.
  • FIG. 8A illustrates an example in which an image IM regarding a virtual batter VB and a virtual catcher VC projected on the screen 20 is implemented. It is a figure for explaining more clearly that a ball as shown in (a) is simulated.
  • the controller Before the user pitches the ball, the controller implements an image IM including the virtual batter VB and the virtual catcher VC, as shown in FIG.
  • the control device is virtually determined by the ball motion model determined by the sensing device from the screen arrival position 50.
  • the ball Bv implements a simulation image in which the ball Bv continuously progresses along the ball trajectory Tb.
  • FIG. 8 (b) an image IM projected on the screen 20 to help understand the matter shown in FIG. 8 (a).
  • the virtual batter (VB) and the virtual catcher (VC) on the top are shown as being behind the screen 20.
  • the virtual ball Bv is applied to the ball motion model calculated by the sensing device from the screen reaching position 50 with respect to the ball 1 pitched by the user and actually moving.
  • a simulation image proceeding along the trajectory Tb is implemented.
  • the virtual batter (VB) can hit the ball or swing the virtual ball (Bv) according to a predetermined AI
  • the virtual catcher (VC) is a catcher at the position of the virtual ball (Bv)
  • the image is implemented to position the glove to catch the virtual ball.
  • the virtual batter VB may hit the virtual ball, swing the ball, skip the ball, etc. according to another user's terminal manipulation (see FIG. 3), or the virtual batter VB. ) May be made to perform the same action according to hitting, ball swing, ball filtering, etc., which is emitted from the ball pitching device of another user (see FIG. 4).
  • the controller determines whether the virtual ball Bv is a strike or a ball.
  • the position and size of the strike zone SZ are set in advance, and it is determined whether the virtual ball Bv passes through the inside of the preset strike zone SZ. If the virtual ball Bv passes through the strike zone SZ, it is determined to be a strike and is reflected in the ball count. If it passes out of the strike zone SZ, it is determined to be a ball and is reflected in the ball count.
  • the strike zone SZ may be displayed on the image to be visible to the user or may be hidden from view.
  • FIGS. 5 and 8 illustrate a case where a simulated image in which a virtual ball travels along a trajectory from a screen arrival position is implemented on an image, and as shown in FIG. 9, the screen arrival position is the final arrival position of the ball. That is, the image may be implemented as a position to be caught in the glove of the virtual catcher.
  • the virtual catcher VC may catch the virtual ball Bv or the virtual batter VB may strike at the screen reach position 50.
  • the virtual ball is simulated from the screen reach position as shown in Fig. 8 (a) for the processing on the image for the ball pitched by the user Method (also referred to as 'method I'), and as shown in FIG. 9, a method in which an image is realized by catching or hitting a ball at a screen reaching position without a virtual ball progressing ('method II'). May be treated as
  • the baseball practice apparatus can proceed to select the 'method I' and 'method II' through the setting before starting the first baseball game, according to the taste of each user You can make it play customized.
  • the baseball practice apparatus acquires an image of the movement of the ball pitched by the user in the baseball practice apparatus for the user's baseball practice or baseball game.
  • the sensing apparatus used therein acquire an image of the movement of the ball pitched by the user in the baseball practice apparatus for the user's baseball practice or baseball game.
  • a virtual batter is implemented as an image through a screen installed in front of the user in a room of a predetermined size
  • a screen installed in front of the user in a room of a predetermined size

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Processing Or Creating Images (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention vise à pourvoir à un appareil de détection et à un procédé de détection basés sur la détection d'image, et à un dispositif d'entraînement au baseball utilisant cet appareil et ce procédé, et à un procédé de commande associé. Un dispositif d'entraînement au baseball permettant à un utilisateur de s'entraîner au baseball ou de disputer un match de baseball acquiert une image représentant le déplacement d'une balle lancée par un utilisateur et analyse cette image, de façon à calculer un modèle de déplacement précis et rapide qui sert à décrire la manière dont la balle se déplace, et il peut ainsi calculer très précisément et très rapidement diverses informations nécessaires à l'exécution d'un entraînement de baseball ou d'un match de baseball, sur la base du modèle de déplacement.
PCT/KR2017/001107 2016-02-04 2017-02-02 Appareil de détection et procédé de détection destinés à être utilisés dans un dispositif d'entraînement au baseball, et dispositif d'entraînement au baseball utilisant cet appareil et ce procédé, et procédé de commande associé Ceased WO2017135690A1 (fr)

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KR10-2016-0014212 2016-02-04
KR1020160014212A KR101912126B1 (ko) 2016-02-04 2016-02-04 야구 연습 장치에 이용되는 센싱장치 및 센싱방법과, 이를 이용한 야구 연습 장치 및 이의 제어방법

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CN119810719A (zh) * 2025-03-13 2025-04-11 呼和浩特新动力文化传媒有限责任公司 一种人工智能智慧屏乒乓球健身机

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KR102106719B1 (ko) * 2018-12-26 2020-05-06 주식회사 에스지엠 인터페이스용 홀로그램을 제공하는 가상 스포츠 시뮬레이션 장치
CN116437989A (zh) * 2020-11-03 2023-07-14 涛普高尔夫瑞典公司 使用由一个或多个传感器登记的未经验证的检测进行三维物体跟踪
TWI776440B (zh) * 2021-03-25 2022-09-01 靜宜大學 一種課程導引模組及具該模組的課程導引系統
TWI835011B (zh) * 2021-10-14 2024-03-11 友達光電股份有限公司 模擬物件作用軌跡之方法與裝置

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TW201729163A (zh) 2017-08-16

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