JP4726844B2 - Program, data collection apparatus, and control method - Google Patents

Description

  The present invention relates to a program for collecting data relating to a moving object that moves in real space. The present invention also relates to a computer that can execute the program and a method of controlling the program by the computer.

  Various games have been proposed in the past. These games are executed on the game device. For example, a general game device includes a monitor, a game machine main body separate from the monitor, and an input unit such as a controller separate from the game machine main body. The controller has a plurality of input buttons.

In such a game device, a ball game such as a baseball game or a soccer game can be executed (see Non-Patent Document 1). Here, for example, consider a case where a baseball game is executed on a game device. When the baseball game is executed, an instruction regarding pitching for the pitcher character, an instruction regarding batting for the batter character, and the like are performed. Then, a pitching trajectory is set in the game device in order to display on the monitor a state in which the pitched ball moves. When the pitch for the pitch is set, the ball thrown from the pitcher character is displayed on the monitor. Further, when the batter character can catch the ball, a trajectory for hitting the ball is set in the game device in order to display on the monitor a state in which the hit ball moves. When the trajectory for hitting is set, the hit ball is displayed on the monitor.
Professional baseball spirits 3 Konami Co., Ltd. 2006 PlayStation2 version

  In the conventional baseball game, when the ball is thrown from the pitcher character or when the ball is hit back from the batter character, the trajectory of the ball is set in the game device in order to display the moving state of the ball on the monitor. It is like that. The ball trajectory in the baseball game set here is generally arbitrarily set by the game creator with reference to the actual ball trajectory in baseball. For this reason, when the player is playing the baseball game while watching the trajectory of the ball displayed on the monitor in the baseball game, there is a problem that the moving state of the ball is uncomfortable.

  In order to solve this problem, it is conceivable that the moving state of the ball can be displayed on the monitor without a sense of incongruity by reflecting the actual trajectory of the ball in baseball in the trajectory of the ball in the baseball game. However, until now, no means has been established to collect data for reflecting the ball trajectory in real baseball in the ball trajectory of a baseball game, that is, data relating to a moving ball in real baseball. It was difficult to reflect the trajectory of the ball in baseball in the trajectory of the ball in the baseball game. Therefore, in order to reflect the trajectory of the ball in the actual baseball in the trajectory of the ball in the baseball game, it is necessary to collect data regarding the ball from an actual baseball game or the like.

  An object of the present invention is to make it possible to collect data relating to a moving object that moves in real space.

The program according to claim 1 is a program that causes a computer for collecting data on a moving object moving in real space to realize the following functions.
(1) An image data storage function for storing a plurality of image data photographed by the photographing means in the storage unit when the moving body moving in the real space is photographed continuously by the photographing means.
(2) Processing for setting a grid-like detection region having a reference point for each of a plurality of image data stored in the storage unit, and a detection region of the relative position of the moving body with respect to the reference point in time series A moving body position detection function that causes the control unit to execute processing to detect on the grid .
(3) A position data storage function for storing, in the storage unit, position data indicating the position of the moving object detected along the time series on the detection area grid .
(4) By causing the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body that is detected on the detection area grid along the time series, A first trajectory calculation function for setting a first trajectory of the moving object in the virtual space corresponding to the trajectory of the moving object in the detection region.
(5) It is defined based on the position data of the sending position of the moving body in the real space and the position data indicating the position where the moving body is incident on the detection area, until the moving body reaches the detection area from the sending position. A second trajectory calculation function for setting the second trajectory equation of the moving body as a second trajectory of the moving body in the virtual space by approximating the second trajectory equation using a predetermined equation.

In this program, in the image data storage function, when a moving body moving in the real space is continuously photographed by the photographing means, a plurality of image data photographed by the photographing means is stored in the storage unit. In the moving body position detection function, a process of setting a grid-like detection area having a reference point for each of a plurality of image data stored in the storage unit , and a relative position of the moving body with respect to the reference point A process of detecting on the grid of the detection area along the time series is executed by the control unit. In the position data storage function, position data indicating the position of the moving body detected in time series on the grid of the detection area is stored in the storage unit.

The first trajectory calculation function causes the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body detected on the grid of the detection area in time series. Thus, the first trajectory of the moving object in the virtual space corresponding to the trajectory of the moving object in the detection region in the real space is set. In the second trajectory calculation function, the moving body is defined based on the position data of the sending position of the moving body in real space and the position data indicating the position where the moving body enters the detection area. The second trajectory equation of the moving body until reaching the position is set as a second trajectory of the moving body in the virtual space by approximating it using a predetermined equation.

  In this case, for example, when a ball moving in real space is photographed by the camera, image data photographed by the camera is stored in the storage unit. And the process which detects the position of the ball | bowl in real space using the image data stored in the memory | storage part is performed by the control part. Then, position data indicating the position of the ball detected by the control unit is stored in the storage unit.

  Here, the position of the ball moving in the real space is detected, and position data indicating the detected position of the ball is stored in the storage unit. Thus, in the invention according to claim 1, position data indicating the position of the ball that actually moves in the real space can be collected and databased. That is, according to the first aspect of the present invention, data relating to a moving object that moves in real space can be collected and databased.

In this case, for example, when a ball moving in real space is continuously photographed by the camera, a plurality of image data photographed by the camera is stored in the storage unit. Then, a process of setting a reference point for each of the plurality of image data and a process of detecting the position of the moving body relative to the reference point of each of the plurality of image data in time series are executed by the control unit. The

  Here, by setting a reference point for each of the plurality of image data, the position of the moving body relative to the reference point of each of the plurality of image data is detected in time series. In this way, in the invention according to claim 1, when the ball moves in the real space as time elapses, the position data indicating the relative position of the ball that changes as time elapses is made into a database. Can do.

In this case, for example, by setting a detection area having a reference point for each of a plurality of image data, the relative position of the moving body with respect to the reference point in the detection area is detected in time series. It has become. Thus, in the invention according to claim 1, when the ball moves in the real space as time elapses, the relative change of the ball that changes with time in the detection area (in the predetermined area). Position data indicating the position can be generated and databased. Specifically, position data indicating the relative position of the ball that changes with time in a partial space in the real space can be generated and databased.

Furthermore, in this case, for example, the ball trajectory in the virtual space corresponding to the ball trajectory in the real space is calculated by the control unit using the ball position data. Here, the trajectory of the ball in the virtual space is calculated by using the position data of the ball. Thus, in the invention according to claim 1, since the ball trajectory in the virtual space is calculated using the position data of the ball in the real space, a realistic ball trajectory can be created. For example, when such a trajectory is used in a ball game, the moving state of the ball that draws a realistic trajectory can be displayed on the image display unit using the image data for the ball.

A program according to a second aspect is the program according to the first aspect, wherein the computer further realizes the following functions.
( 6 ) Let the control unit calculate the amount of change in the position of the moving body detected by the control unit, and calculate the speed of the moving body based on the amount of change in the position of the moving body and the amount of change in the time of the moving body. A moving body speed detection function that causes the control unit to execute processing.
( 7 ) A speed data storage function for storing speed data indicating the speed of the moving object calculated by the control unit in the storage unit.

  In this program, in the moving body speed detection function, the amount of change in the position of the moving body detected by the control unit is calculated by the control unit. And the process which calculates the speed of a moving body based on the variation | change_quantity of the position of a moving body and the variation | change_quantity of the time of a moving body is performed by a control part. In the speed data storage function, speed data indicating the speed of the moving object calculated by the control unit is stored in the storage unit.

  In this case, for example, the change amount of the position of the ball detected by the control unit is calculated by the control unit. Then, based on the change amount of the ball position and the change amount of the ball time, a process of calculating the velocity of the ball is executed by the control unit. Then, speed data indicating the speed of the ball calculated by the control unit is stored in the storage unit.

Here, the speed of the moving ball is detected, and speed data indicating the detected speed of the ball is stored in the storage unit. Thus, in the invention according to claim 2 , speed data indicating the speed of the moving ball can be collected and databased. That is, in the invention according to claim 2 , it is possible to collect data relating to a moving object moving in real space and create a database.

According to a third aspect of the present invention, there is provided a data collection device for collecting a database composed of data relating to a moving object moving in a real space. The data collection device includes: an image data storage unit that stores a plurality of image data captured by the imaging unit in a storage unit when a moving body moving in real space is continuously captured by the imaging unit; and a storage unit Processing for setting a grid-like detection area having a reference point for each of a plurality of image data stored in the image, and detecting the relative position of the moving body with respect to the reference point on the grid of the detection area in time series Moving body position detecting means for causing the control section to execute processing, position data storage means for storing position data indicating the position of the moving body detected in time series on the grid of the detection area in the storage section, By causing the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body detected on the grid of the detection area in time series, A first trajectory calculating means for setting a first trajectory of the moving object in the virtual space corresponding to the trajectory of the moving object in the detection region of the space, position data of the sending position of the moving object in the real space, and the moving object By approximating the second trajectory equation of the moving body, which is defined based on the position data indicating the position incident on the area, until the moving body reaches the detection area from the sending position, using a predetermined equation, Second trajectory calculating means for setting as a second trajectory of the moving body in the virtual space .

According to a fourth aspect of the present invention, there is provided a control method for controlling a function of collecting a database made up of data relating to a moving object moving in real space by a computer. This control method includes an image data storage step of storing a plurality of image data photographed by the photographing unit in the storage unit when the moving body moving in the real space is continuously photographed by the photographing unit; Processing for setting a grid-like detection area having a reference point for each of a plurality of stored image data, and detecting the relative position of the moving body with respect to the reference point on the grid of the detection area in time series processing, a moving body position detecting step to be executed by the control unit, and the position data storing step of storing the position data indicating the position of a moving object is detected along the time series on the grid of the detection area in the storage unit, when By causing the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body detected on the grid of the detection area along the series. A first trajectory calculating step for setting a first trajectory of the moving object in the virtual space, corresponding to the trajectory of the moving object in the detection area in the real space, position data of the sending position of the moving object in the real space, and movement The second trajectory equation of the moving body, which is defined based on the position data indicating the position where the body is incident on the detection area and until the moving body reaches the detection area from the delivery position, is approximated using a predetermined equation. Thus, a second trajectory calculation step is set which is set as the second trajectory of the moving body in the virtual space .

  In the present invention, the position of the moving body moving in the real space is detected, and position data indicating the detected position of the moving body is stored in the storage unit. As described above, in the present invention, position data indicating the position of a moving body that actually moves in real space can be collected and databased. That is, in the present invention, data relating to a moving object that moves in real space can be collected and made into a database.

[Computer configuration and operation]
FIG. 1 shows a basic configuration of a data collection apparatus, for example, a computer according to an embodiment of the present invention. Here, a personal computer will be described as an example of a computer. The computer includes a computer main body and a monitor. A recording medium 10 can be loaded in the computer main body. Various data and programs can be appropriately read from the recording medium 10.

  The computer includes a control unit 1, a storage unit 2, an image display unit 3, an audio output unit 4, and an operation input unit 5, which are connected via a bus 6. The bus 6 includes an address bus, a data bus, a control bus, and the like. Here, the control unit 1, the storage unit 2, the audio output unit 4, and the operation input unit 5 are included in the computer main body, and the image display unit 3 is included in the monitor.

  The control unit 1 is provided mainly for controlling various processes based on a program. The control unit 1 includes, for example, a CPU (Central Processing Unit) 7, a signal processor 8, and an image processor 9. The CPU 7, the signal processor 8, and the image processor 9 are connected to each other via the bus 6. The CPU 7 interprets instructions from the program and performs various data processing and control. For example, the CPU 7 instructs the signal processor 8 to supply image data to the image processor. The signal processor 8 mainly performs calculation in the three-dimensional space, position conversion calculation from the three-dimensional space to the pseudo three-dimensional space, light source calculation processing, and in the three-dimensional space or the pseudo three-dimensional space. Image and sound data generation / processing based on the result of the calculation performed is performed. The image processor 9 mainly performs a process of writing image data to be drawn into the RAM 12 based on the calculation result and the processing result of the signal processor 8. Further, the CPU 7 instructs the signal processor 8 to process various data. The signal processor 8 mainly performs calculations corresponding to various data in the three-dimensional space and position conversion calculation from the three-dimensional space to the pseudo three-dimensional space.

  The storage unit 2 is provided mainly for storing program data and various data used in the program data. The storage unit 2 includes, for example, a recording medium 10, an interface circuit 11, a RAM (Random Access Memory) 12, and a ROM (Read Only Memory). An interface circuit 11 is connected to the recording medium 10. The interface circuit 11 and the RAM 12 are connected via the bus 6. The recording medium 10 is for recording program data, image data, audio data, data including various program data, and the like. The recording medium 10 is, for example, a ROM (Read Only Memory) cassette, an optical disk, a flexible disk, or the like. The recording medium 10 also includes a card type memory, and this card type memory is mainly used for storing various parameter values and data at the time of interruption when the program is interrupted. The RAM 12 is used for temporarily storing program data of the operation system and various data read from the recording medium 10 and temporarily recording processing results from the control unit 1. The RAM 12 stores various data and address data indicating the storage position of the various data, and can be read / written by designating an arbitrary address.

  The image display unit 3 is provided mainly for outputting image data written in the RAM 12 by the image processor 9 or image data read from the recording medium 10 as an image. The image display unit 3 includes, for example, a monitor 20, an interface circuit 21, and a D / A converter (Digital-To-Analog converter) 22. A D / A converter 22 is connected to the monitor 20, and an interface circuit 21 is connected to the D / A converter 22. The bus 6 is connected to the interface circuit 21. Here, the image data is supplied to the D / A converter 22 via the interface circuit 21, where it is converted into an analog image signal. Then, an analog image signal is output to the monitor 20 as an image.

  The audio output unit 4 is provided mainly for outputting audio data read from the recording medium 10 as audio. The audio output unit 4 includes, for example, a speaker 13, an amplifier circuit 14, a D / A converter 15, and an interface circuit 16. An amplifier circuit 14 is connected to the speaker 13, a D / A converter 15 is connected to the amplifier circuit 14, and an interface circuit 16 is connected to the D / A converter 15. The bus 6 is connected to the interface circuit 16. Here, the audio data is supplied to the D / A converter 15 via the interface circuit 16, where it is converted into an analog audio signal. The analog audio signal is amplified by the amplifier circuit 14 and output from the speaker 13 as audio. The audio data includes, for example, ADPCM (Adaptive Differential Pulse Code Modulation) data and PCM (Pulse Code Modulation) data. In the case of ADPCM data, sound can be output from the speaker 13 by the same processing method as described above. In the case of PCM data, by converting the PCM data into ADPCM data in the RAM 12, the sound can be output from the speaker 13 by the same processing method as described above.

  The operation input unit 5 mainly includes a keyboard 17, an operation information interface circuit 18, and an interface circuit 19. An operation information interface circuit 18 is connected to the keyboard 17, and an interface circuit 19 is connected to the operation information interface circuit 18. The bus 6 is connected to the interface circuit 19. The keyboard 17 is an operation device used by the user to input various operation commands, and sends an operation signal corresponding to the user's operation to the CPU 7. The controller 17 is provided with various buttons. When these buttons are operated, an operation signal corresponding to the input operation is sent from the keyboard 17 to the control unit 1. A command corresponding to the operation signal is recognized by the control unit 1.

  The general operation of the computer having the above configuration will be described below. When a power switch (not shown) is turned on and the power is turned on, the CPU 7 reads image data, audio data, and program data from the storage unit 2, for example, the RAM 12, based on the operating system. Then, the CPU 7 issues a command to the image data and sound data stored in the RAM 12 based on the program data stored in the RAM 12.

  In the case of image data, based on a command from the CPU 7, first, the signal processor 8 performs character position calculation and light source calculation in a three-dimensional space. Next, the image processor 9 performs a process of writing image data to be drawn into the RAM 12 based on the calculation result of the signal processor 8. Then, the image data written in the RAM 12 is supplied to the D / A converter 17 via the interface circuit 13. Here, the image data is converted into an analog video signal by the D / A converter 17. The image data is supplied to the monitor 20 and displayed as an image.

  In the case of audio data, first, the signal processor 8 generates and processes audio data based on a command from the CPU 7. Here, processing such as pitch conversion, noise addition, envelope setting, level setting, and reverb addition is performed on the audio data, for example. Next, the audio data is output from the signal processor 8 and supplied to the D / A converter 15 via the interface circuit 16. Here, the audio data is converted into an analog audio signal. The audio data is output as audio from the speaker 13 via the amplifier circuit 14.

[Outline of various processing in computers]
In this computer, data relating to a moving object moving in real space is collected. For example, in this computer, data relating to a ball moving in real space is collected. FIG. 2 is a functional block diagram for explaining functions that play a major role in the present invention.

  The image data storage means 50 has a function of storing the image data photographed by the camera in the storage unit 2 when the ball moving in the real space is photographed by the photographing means such as a camera. Specifically, the image data storage means 50 has a function of storing a plurality of image data captured by the camera in the storage unit 2 when a ball moving in real space is continuously captured by the camera. .

  In the image data storage unit 50, when a ball moving in real space is photographed by the camera, the image data photographed by the camera is stored in the storage unit 2. Specifically, in the image data storage means 50, when a ball moving in real space is continuously photographed by the camera, a plurality of image data photographed by the camera is stored in the storage unit 2.

  In this means, when a ball moving in real space is continuously photographed by the camera, a plurality of image data photographed by the camera is stored in the RAM 12. For example, when a ball moving in real space is continuously photographed by two cameras arranged so that the directions of the camera viewpoints are orthogonal to each other, a plurality of images photographed by each of these two cameras are taken. Image data is stored in the RAM 12. Here, the ball moving in the real space is continuously photographed by the camera at a predetermined time interval (time change amount data).

  Specifically, in real-world baseball, when two cameras installed so that the directions of the camera viewpoints are orthogonal to each other, the balls thrown from the pitcher are continuously photographed. A plurality of image data shot by each of the cameras is stored in the RAM 12.

  More specifically, a prescribed point for defining the direction in which the viewpoint of the camera faces is provided on the ground of the stadium. Here, the first specified point is provided on the home base, and the second specified point is provided above the first specified point. The second specified point is provided at a position spaced a predetermined distance (ex. 1.0 m) upward from the first specified point. By installing the first camera so that the viewpoint is directed to the first specified point and installing the second camera so that the viewpoint is directed to the second specified point, two cameras (first camera and second camera) The directions in which the viewpoints are directed can be orthogonal to each other. When the balls thrown from the pitcher are continuously photographed by the two cameras installed in this state, two sets of a plurality of image data are generated as viewed from the two directions orthogonal to the pitched ball. . Then, two sets of a plurality of image data are stored in the RAM 12.

  The ball position detection unit 51 has a function of causing the control unit 1 to execute processing for detecting the position of the ball in the real space using the image data stored in the storage unit 2. Specifically, the ball position detection unit 51 detects the position of the ball relative to the reference point of each of the plurality of image data in time series, and processing for setting the reference point for each of the plurality of image data. A function for causing the control unit 1 to execute processing is provided. More specifically, the ball position detection unit 51 sets a detection area having a reference point for each of a plurality of image data, and the relative position of the ball with respect to the reference point in the detection area in time series. A function for causing the control unit 1 to execute processing to be detected is provided.

  In the ball position detection means 51, processing for detecting the position of the ball in the real space using the image data stored in the storage unit 2 is executed by the control unit 1. More specifically, the ball position detection unit 51 detects the position of the ball relative to the reference point of each of the plurality of image data in time series, and sets the reference point for each of the plurality of image data. Processing is executed by the control unit 1. More specifically, the ball position detection unit 51 sets a detection area having a reference point for each of a plurality of image data, and the relative position of the ball with respect to the reference point in the detection area in time series. The detecting process is executed by the control unit 1.

  In this means, the CPU 7 executes a process for setting a detection area having a reference point for each of a plurality of image data and a process for detecting the relative position of the ball with respect to the reference point in the detection area in time series. Is done.

  For example, the CPU 7 executes processing for setting a detection area having a reference point for each of two sets of image data. Here, a rectangular detection area is used, and a reference point is defined in this detection area. Further, the inside of the detection area is divided into a lattice shape. The position of the ball is detected in units of one grid. Note that one side of the one grid unit is defined to be smaller than the diameter of the size of the photographed ball.

  The CPU 7 executes processing for superimposing such detection areas so that the reference point is located at a position corresponding to the specified point in each image data. Then, in the portion corresponding to the detection area of the image data, the CPU 7 executes a process for recognizing a spherical object by the shape recognition program, that is, a process for recognizing a ball photographed by the shape recognition program. Then, the intersection closest to the center point of the ball in the grid-like detection area is recognized by the CPU 7. Then, the position data indicating the position of the intersection with respect to the reference point when the reference point is the origin is recognized by the CPU 7. By executing such processing for each of a plurality of sets of image data, it is possible to detect the position data of a continuously moving ball in time series.

  The position data storage means 52 has a function of storing position data indicating the position of the ball detected by the control unit 1 in the storage unit 2. In the position data storage means 52, position data indicating the position of the ball detected by the control unit 1 is stored in the storage unit 2.

  In this means, position data indicating the position of the ball detected by the CPU 7 is stored in the RAM 12. For example, time series data including position data of a plurality of balls when the ball is viewed from two orthogonal directions is stored in the RAM 12.

  The ball speed detection means 53 causes the control unit 1 to calculate the amount of change in the position of the ball detected by the control unit 1, and determines the speed of the ball based on the amount of change in the ball position and the amount of change in the ball time. A function for causing the control unit 1 to execute a calculation process is provided. In the ball speed detection means 53, the control unit 1 calculates the amount of change in the position of the ball detected by the control unit 1. Then, based on the change amount of the ball position and the change amount of the ball time, a process of calculating the velocity of the ball is executed by the control unit 1.

  In this means, the change amount of the position of the ball detected by the CPU 7 is calculated by the CPU 7. Then, based on the change amount of the ball position and the change amount of the ball time, a process of calculating speed data indicating the speed of the ball is executed by the CPU 7.

  For example, the CPU 7 executes a process of calculating the change amount (distance) of the ball between two points by using the position data of the two points. Then, the CPU 7 executes a process of dividing the position change amount data indicating the change amount of the ball position between the two points by the time change amount data indicating the time change amount (predetermined time interval) between the two points. The Thereby, the CPU 7 calculates speed data indicating the speed of the ball at each position. By executing this series of processing at all the detection positions of the ball, the velocity data of the ball at all the detection positions of the ball can be calculated.

  The speed data storage means 54 has a function of storing speed data indicating the speed of the ball calculated by the control unit 1 in the storage unit 2. In the speed data storage means 54, speed data indicating the speed of the ball calculated by the control unit 1 is stored in the storage unit 2.

  In this means, speed data indicating the speed of the ball calculated by the CPU 7 is stored in the RAM 12. For example, time series data composed of velocity data corresponding to each of position data of a plurality of balls is stored in the RAM 12.

  The speed data recognition unit 55 has a function of causing the control unit 1 to recognize ball speed data stored in the storage unit 2. In the speed data recognition unit 55, the speed data of the ball stored in the storage unit 2 is recognized by the control unit 1.

  In this means, the velocity data of the ball stored in the RAM 12 is recognized by the CPU 7. For example, the CPU 7 recognizes time-series data made up of velocity data corresponding to each of the plurality of ball position data stored in the RAM 12.

  The trajectory calculation means 56 has a function of causing the control unit 1 to calculate the trajectory of the ball in the virtual space corresponding to the trajectory of the ball in the real space using the ball position data. In the trajectory calculation means 56, the control unit 1 calculates the ball trajectory in the virtual space corresponding to the ball trajectory in the real space using the ball position data.

  In this means, the ball trajectory in the virtual space corresponding to the ball trajectory in the real space is calculated by the CPU 7 using the ball position data.

  For example, the CPU 7 executes a process for obtaining an equation that passes through the detected ball position in the detection area. For example, a ball in the detection area between the first position and the second position is initially set to a first position where the ball was first detected in the detection area and a second position where the ball was last detected in the detection area. The CPU 7 executes a process for calculating an equation (first equation) that passes through the position of.

  When the first equation is calculated in this way, the position of the ball from the first position of the detection region to the second position of the detection region can be defined by this first equation. The calculated speed at each position is used as the speed of the ball at each position from the first position in the detection area to the second position in the detection area.

  In addition, if the ball position from the ball release position to the detection area is defined by using a linear equation or a higher order equation, the ball release position and the ball in the detection area first It is possible to define an equation (second equation) that passes through the first position detected in step S1, that is, the position where the ball has entered the detection area.

  When the second equation is thus defined, the position of the ball from the ball release position to the first position of the detection area can be defined by the second equation. In this case, the speed at the first position of the detection area is used as the speed of the ball at each position from the ball release position to the detection area.

  If the equations calculated in this computer are incorporated in the baseball game program in this way, when the ball is thrown from the pitcher character in the baseball game, the ball that moves more realistically than before can be displayed on the monitor.

  In addition, when the part by which a 1st equation and a 2nd equation are connected is not smoothly connected, it is desirable to prepare the equation for connection for connecting a 1st equation and a 2nd equation smoothly.

[Processing flow and explanation of data collection system]
Next, the contents of the data collection system for collecting data related to the ball moving in the real space will be described. Here, for example, specific contents of a data collection system for collecting data related to a ball thrown from a pitcher in baseball in the real world will be described. The processing flow of the data collection system shown in FIG. 9 will also be described at the same time.

  Here, two cameras (first camera C1 and second camera C2) to be used in the data collection system are installed in the stadium. For example, as shown in FIG. 3, the first camera C1 and the second camera C2 (or C2 ') are installed on a stadium so that the directions of the camera viewpoints are orthogonal to each other. The first camera C1 is installed on the ceiling above the home base, and the second camera C2 (C2 ') is installed in the audience seat on the right (or left) of the home base. The first camera C1 and the second camera C2 (C2 ') and the computer are connected to each other via a network. For this reason, when each of the first camera C1 and the second camera C2 (C2 ') is photographed, the photographed image data is stored in the RAM 12 of the computer.

  In the present embodiment, the second camera C2 on the right side and the second camera C2 ′ on the left side are cameras that play the same role, and therefore the second camera C2 on the right side is used in the following description. I will explain.

  When the thrown ball is continuously photographed by each of the first camera C1 and the second camera C2, a plurality of image data photographed by each camera is stored in the RAM 12 (S1). That is, two sets of a plurality of pieces of image data are stored in the RAM 12 by photographing the moving ball from two different directions by the two cameras. The moving ball is continuously photographed by each camera at a time interval defined by the time variation data.

  Specifically, as shown in FIG. 4, defined points K1 and K2 for defining the direction in which the viewpoint of the camera faces is provided on the ground of the stadium. The defined points K1 and K2 are virtual points for defining the direction in which the camera viewpoint is directed. Here, the first specified point K1 is provided on the home base, and the second specified point K2 is provided above the first specified point K1. The first specified point K1 is provided at the center of gravity of the home base installed on the ground. The second specified point K2 is provided at a position above the first specified point K1 by a predetermined distance, for example, 1.0 (m). The first camera C1 is installed so that the viewpoint is directed to the first specified point K1, and the second camera C2 is installed so that the viewpoint is directed to the second specified point K2. Thereby, the directions in which the viewpoints of the first camera C1 and the second camera C2 face can be orthogonal to each other. When the balls thrown from the pitcher are continuously photographed by the two cameras C1 and C2 installed in this state, as shown in FIG. 5, a plurality of balls viewed from two orthogonal directions are seen. Image data is generated. Two sets of a plurality of image data are stored in the RAM 12.

  Here, the shooting start time of each camera is the same, and the time interval after the start of shooting is the same. For this reason, the image data at a certain moment photographed by the first camera C1 and the image data at the same moment photographed by the second camera C2 are balls at the same time when the moving ball is viewed from different directions. Image data. Further, time change data indicating a time interval after the start of photographing by each camera is stored in advance in the RAM 12 of the computer. Further, the time change amount data may be stored in the RAM 12 by allowing the user to directly input the time change amount data.

  Subsequently, a process of setting a detection area having a reference point for each of the plurality of image data stored in the RAM 12 is executed by the CPU 7 (S2). For example, the CPU 7 executes processing for setting a rectangular detection area for each of two sets of plural image data. In this rectangular detection region, a reference point for defining the relative position of the ball in the detection region is defined. Further, the inside of the detection area is divided into a lattice shape, and the position of the ball is detected in this lattice unit.

  For example, as shown in FIG. 6, the process of superimposing the rectangular detection regions R1 and R2 so that the reference points O1 and O2 are located at positions corresponding to the specified points K1 and K2 in each image data as shown in FIG. It is executed by. Here, a first reference point O1 is defined by the CPU 7 in the center of the first detection region R1 for each image data photographed by the first camera C1. In addition, a second reference point O2 is defined by the CPU 7 at the center of the lower side of the second detection region R2 for each image data photographed by the second camera C2. In addition, the detection areas R1 and R2 are formed in a size that matches the shooting area of each image data (frame size of each camera C1 and C2).

  Specifically, the CPU 7 executes a process of superimposing the rectangular first detection region R1 on each image data so that the first reference point O1 is located at a position corresponding to the first specified point K1. Further, the CPU 7 executes a process of superimposing the rectangular second detection region R2 on each image data so that the second reference point O2 is located at a position corresponding to the second specified point K2. In this case, the catcher's mitt position for catching the pitched ball is located at any position on the lower side of the first detection area R1 and any position on the left side of the second detection area R2. The detection areas R1 and R2 are set. That is, any position on the lower side of the first detection area R1 and any position on the left side of the second detection area R2 are the final arrival position of the ball.

  Subsequently, a process of detecting the relative position of the ball with respect to the reference points O1 and O2 in the rectangular detection areas R1 and R2 in time series is executed by the CPU 7 (S3). For example, the CPU 7 executes a process for recognizing a spherical object, that is, a process for recognizing a photographed ball in the image data corresponding to each of the detection areas R1 and R2.

  Then, as shown in FIG. 7, the intersection closest to the center point of the ball is recognized by the CPU 7 in each of the detection regions R1 and R2 divided in a lattice shape. Then, the position data indicating the position of the intersection point with respect to each of the reference points O1 and O2 is recognized by the CPU 7 (S4). For example, when image data photographed by the first camera C1 is used, the CPU 7 recognizes the x coordinate and the y coordinate of the moving ball. Further, when image data photographed by the second camera C2 is used, the CPU 7 recognizes the y coordinate and the z coordinate of the moving ball. By combining the coordinates in each direction, the CPU 7 recognizes the position data of the moving ball, that is, the three-dimensional coordinate data.

  Then, the ball position data recognized by the CPU 7 is stored in the RAM 12. In other words, time series data including a plurality of ball position data when the ball is viewed from two orthogonal directions is stored in the RAM 12. By executing such processing for each of a plurality of sets of image data, position data at each moment of a continuously moving ball, that is, three-dimensional coordinate data can be detected and collected. .

  Subsequently, the amount of change in the position of the ball detected by the CPU 7 is calculated by the CPU 7 (S5). The CPU 7 executes a process for calculating the change amount (distance) of the ball between two points by using the position data of the two instantaneously adjacent balls. Here, the amount of change of the ball between the two points is calculated based on the three-square theorem.

  Then, based on the change amount of the ball position and the change amount of the ball time, a process of calculating speed data indicating the speed of the ball is executed by the CPU 7 (S6). For example, the CPU 7 executes a process of dividing position change amount data indicating the change amount of the ball position between two points by time change amount data indicating a time interval after the start of photographing. Thus, the speed data indicating the speed of the ball at each moment is calculated by the CPU 7. By executing this series of processing during the entire detection time of the ball, the velocity data of the ball during the entire detection time of the ball can be calculated.

  Then, the velocity data of the ball calculated by the CPU 7 is stored in the RAM 12. For example, time series data composed of velocity data corresponding to each of position data of a plurality of balls is stored in the RAM 12. Then, the velocity data of the ball stored in the RAM 12 is recognized by the CPU 7. For example, the CPU 7 recognizes time-series data made up of velocity data corresponding to each of the plurality of ball position data stored in the RAM 12. In this way, velocity data at each moment of a continuously moving ball can be collected and can be recognized by the CPU 7.

  Next, a trajectory equation indicating the trajectory of the ball thrown from the pitcher character in the baseball game space, corresponding to the trajectory of the ball thrown from the pitcher character, is calculated by the CPU 7 using the ball position data (S7). . Then, the calculated trajectory equation is stored in the RAM 12 (S8).

  Here, first, the CPU 7 executes a process of mapping conversion so that the position data and velocity data collected in the real space can be used in the baseball game space. For example, the CPU 7 executes a process of converting data units collected in the real space into data units used in the baseball game space. Then, the processed position data and speed data are stored in the RAM 12 as position data and speed data in the baseball game space and recognized by the CPU 7.

  Subsequently, the CPU 7 executes a process for obtaining an equation that passes through the positions of the balls detected in the detection regions R1 and R2. For example, the first position N1 where the ball was first detected in each detection region R1, R2 (the position where the ball entered each detection region R1, R2) and the first position where the ball was last detected in each detection region R1, R2. Using the two positions N2 as an initial condition, an equation (first equation) indicating a trajectory H1 passing through the position of the ball in each detection region between the first position N1 and the second position N2, such as a spline function or a higher-order equation, The calculation process is executed by the CPU 7 (see FIG. 7). Note that the velocity data at each position described above is used as the velocity data at each position of the ball defined by the first equation.

  Subsequently, the position of the ball from the ball release position to each of the detection regions R1, R2 is defined based on a linear equation as shown in FIG. That is, this linear equation is an equation (second equation) indicating a trajectory H2 passing through the ball release position Bo and the first position N1 of each of the detection regions R1 and R2. Here, when the ball release position is fixed, the process of calculating the second equation using the position data for the ball release position and the position data for the first position of each of the detection regions R1 and R2 as initial conditions. Is executed by the CPU 7. However, when the release position of the ball has not been determined, for example, when the release position changes with every pitch, the position data for the ball release position is in a variable state, and the position data for the ball release position and each The CPU 7 executes a process of calculating the second equation using the position data for the first position of the detection regions R1, R2 as an initial condition. Note that the velocity data at the first position N1 of each detection region R1, R2 is used as the velocity data at each position of the ball defined by the second equation.

  In the present invention, the above equation calculated in the computer is incorporated into the baseball game program, so that when the ball is thrown from the pitcher character in the baseball game, a more realistic ball movement state than before is displayed on the monitor of the game machine. Can be displayed. In the baseball game in which the release position changes with every pitch, as described above, the second equation is calculated with the position data for the ball release position being a variable. For this reason, in such a baseball game, when the ball is released from the pitcher character, the position data for the release position of the ball is recognized by the CPU of the game machine, and the position data for the release position of the ball is stored in the second position data. The process of substituting into the equation is executed by the CPU of the game machine. Thus, the second equation is uniquely determined, and the position of the ball thrown from the pitcher character can be determined.

  Further, in the present invention, based on various data collected by the computer, real-world pitcher pitch data, pitcher ball type data, pitcher change ball change rate data, pitcher ball speed data, etc. Can be analyzed. By using the analyzed data in the baseball game program, a baseball game that is more realistic than a conventional baseball game can be realized.

  In the present invention, ball position data near the base, for example, three-dimensional coordinate data, can be detected in real time. Therefore, by using this three-dimensional coordinate data, the course of the ball moving in the real space can be determined in real time. Thereby, the determination of the course of the ball thrown in the real space (strike and determination of the ball) can be automatically performed.

[Other Embodiments]
(A) In the above embodiment, an example in which a home computer is used as an example of a computer to which the game program can be applied has been described. However, the home computer is not limited to the above embodiment, and the monitor is a separate body. The present invention can be similarly applied to a computer configured in this manner, a computer in which a monitor is integrated, a workstation capable of executing a game program, and the like.

  (B) The present invention includes a program for executing the game as described above and a computer-readable recording medium on which the program is recorded. Examples of the recording medium include a computer-readable flexible disk, a semiconductor memory, a CD-ROM, a DVD, an MO, a ROM cassette, and the like in addition to the cartridge.

  (C) In the above embodiment, an example in which the position data of the ball, for example, three-dimensional coordinate data, is detected by using two cameras (the first camera C1 and the second camera C2) has been described. The form for detecting data is not limited to the above embodiment, and any form may be used.

  For example, by using only the first camera C1, it is possible to detect ball position data, for example, three-dimensional coordinate data. In this case, by using the image data photographed by the first camera C1, the x-direction coordinate and the y-direction coordinate of the moving ball can be detected as in the above embodiment. Further, when the ball is recognized in the image data photographed by the first camera C1, the CPU 7 executes a process of calculating the coordinate in the z direction according to the size of the recognized ball, thereby moving the moving object. The z-direction coordinate of the ball can be detected. Thus, even with only the first camera C1, it is possible to detect the three-dimensional coordinate data of the moving ball. In this case, it is necessary to prepare in advance a table indicating the correspondence between the recognized ball size and the z-direction coordinate.

Further, for example, by using the second camera C2 and the reflection type sensor, it is possible to detect ball position data, for example, three-dimensional coordinate data. In this case, by using the image data photographed by the second camera C2, the y-direction coordinate and the z-direction coordinate of the moving ball can be detected as in the above embodiment. Here, by embedding a reflective sensor in the ground, the distance between the ground and the ball moving above the home base can be detected. As described above, by using the second camera C2 and the reflective sensor, it is possible to detect the three-dimensional coordinate data of the moving ball.
(D) In the above embodiment, an example in which the present invention is used in baseball has been described. However, the present invention can be used in soccer or the like in addition to baseball. For example, when the present invention is used in soccer, it is possible to collect data relating to soccer shots.

1 is a basic configuration diagram of a data collection device according to an embodiment of the present invention. The functional block diagram for demonstrating the function implement | achieved in the said data collection device. The figure for demonstrating the installation position of a camera. The figure for demonstrating the position of the regulation point for prescribing | regulating the direction where the viewpoint of a camera faces. The figure which shows the image image | photographed with two cameras. The figure for demonstrating the detection area | region set to image data. The figure for demonstrating the detection form of a ball | bowl position, and the calculation form of a track | orbit. The figure for demonstrating the calculation form of the track | orbit of a ball | bowl. The flowchart for demonstrating a data collection system.

DESCRIPTION OF SYMBOLS 1 Control part 3 Image display part 5 Operation input part 7 CPU
17 keyboard 20 monitor 50 image data storage means 51 ball position detection means 52 position data storage means 53 ball speed detection means 54 speed data storage means 55 speed data recognition means 56 orbit calculation means C1, C2 photographing means (camera)
K1, K2 regulation points (first regulation point, second regulation point)
O1, O2 reference point (first reference point, second reference point)
R1, R2 detection area (first detection area, second detection area)

Claims (4)

In a computer for collecting data about moving objects moving in real space,
An image data storage function for storing a plurality of image data photographed by the photographing means in the storage unit when the moving body moving in the real space is continuously photographed by the photographing means;
Processing for setting a grid-like detection region having a reference point for each of the plurality of image data stored in the storage unit, and the detection of the relative position of the moving body with respect to the reference point in time series A moving body position detection function for causing the control unit to execute processing to detect on the lattice of the area ;
A position data storage function for storing, in a storage unit, position data indicating the position of the moving body detected in time series on the grid of the detection area ;
By causing the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body detected on the grid of the detection area in time series, the real space A first trajectory calculation function for setting a first trajectory of the moving body in a virtual space corresponding to the trajectory of the moving body in the detection region of
The moving body reaches the detection area from the transmission position, which is defined based on position data of the sending position of the moving body in real space and position data indicating a position where the moving body enters the detection area. A second trajectory calculation function for setting the second trajectory equation of the moving body until the time is as a second trajectory of the moving body in a virtual space by approximating the second trajectory equation using a predetermined equation;
A program to realize In the computer,
Let the control unit calculate the amount of change in the position of the moving body detected by the control unit, and calculate the speed of the moving body based on the amount of change in the position of the moving body and the amount of change in the time of the moving body. A moving body speed detection function that causes the control unit to execute processing to be performed,
A speed data storage function for storing speed data indicating the speed of the moving object calculated by the control unit in a storage unit;
Program according to claim 1 in order to further realize. A data collection device for collecting data on a moving object moving in a real space,
Image data storage means for storing a plurality of image data photographed by the photographing means in the storage unit when the moving body moving in the real space is continuously photographed by the photographing means;
Processing for setting a grid-like detection region having a reference point for each of the plurality of image data stored in the storage unit, and the detection of the relative position of the moving body with respect to the reference point in time series Mobile object position detection means for causing the control unit to execute processing to detect on the lattice of the area ;
Position data storage means for storing, in a storage unit, position data indicating the position of the moving body detected along the time series on the grid of the detection area ;
By causing the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body detected on the grid of the detection area in time series, the real space First trajectory calculating means for setting a first trajectory of the moving body in a virtual space corresponding to the trajectory of the moving body in the detection region of
The moving body reaches the detection area from the transmission position, which is defined based on position data of the sending position of the moving body in real space and position data indicating a position where the moving body enters the detection area. A second trajectory calculating means for setting the second trajectory equation of the moving object until the time of using a predetermined equation as a second trajectory of the moving object in a virtual space;
A data collection device comprising: A control method for controlling a function for collecting data on a moving object moving in a real space by a computer,
An image data storage step of storing a plurality of image data photographed by the photographing means in the storage unit when the moving body moving in the real space is continuously photographed by the photographing means;
Processing for setting a grid-like detection region having a reference point for each of the plurality of image data stored in the storage unit, and the detection of the relative position of the moving body with respect to the reference point in time series A moving body position detection step for causing the control unit to execute processing for detection on the lattice of the area ;
A position data storage step of storing, in a storage unit, position data indicating the position of the moving body detected along the time series on the grid of the detection area ;
By causing the control unit to calculate the first trajectory equation of the moving body that moves in the detection area based on the position data of the moving body detected on the grid of the detection area in time series, the real space A first trajectory calculation step for setting a first trajectory of the moving body in a virtual space corresponding to the trajectory of the moving body in the detection region of
The moving body reaches the detection area from the transmission position, which is defined based on position data of the sending position of the moving body in real space and position data indicating a position where the moving body enters the detection area. A second trajectory calculating step of setting the second trajectory equation of the moving body until the time is as a second trajectory of the moving body in a virtual space by approximating the second trajectory equation using a predetermined equation;
A control method comprising:

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