Pitching machine and ball compartment system

Abstract

To provide a pitching machine and a batting bay system that are excellent.SOLUTION: A ball pitching device includes a launching surface for receiving balls, the launching surface being configured to receive and hold a ball in the launching position prior to the ball being launched, a launching system including at least one impulse mechanism configured to impact the ball at the launching position, and one or more control components configured to control at least one of a pitch power and a pitch trajectory of the ball launched from the launching position.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to U.S. Provisional Patent Application No. 62 / 822,624, entitled "PROGRAMMABLE SYSTEM FOR PITCHING, COLLECTING, AND TRANSPORTING BALLS FOR USE IN BAT-AND-BALL GAMES," filed March 22, 2019, and also claims priority to U.S. Provisional Patent Application No. 62 / 823,548, entitled "TRAINING AND ENTERTAINMENT CENTER INCLUDING BALL LAUNCHER, PLAYER BAY, AND AUTOMATIC BALL COLLECTION," filed March 25, 2019. Each of these applications is incorporated herein by reference in its entirety for all purposes.

[0002] Aspects and embodiments disclosed herein are generally directed to systems for throwing, retrieving, and transporting balls. [Background technology]

[0003] In many cases, it is difficult to find enough people and suitable locations to play sports. For example, a baseball (or softball) game typically involves two teams of nine (or ten) players and a marked field with a raised pitching mound, and a basketball game typically involves two teams of five players and a marked court with two goal nets. While small groups or individuals can try team sports, their enjoyment is usually reduced. For example, while a player throwing a baseball into the air and hitting it with a baseball bat may be fun for a few seconds, it is less enjoyable for the player to have to chase the baseball so that they can throw it again and hit it again. The need to chase the ball after each hit also makes it difficult for a baseball player to practice their baseball swing alone and without any specialized training equipment. In addition, such activities may offer limited availability for socializing. Similarly, other factors such as climate / weather, stadium reservations, and government-mandated "social distancing" may present additional obstacles when arranging team or group sports activities. Summary of the Invention [Means for solving the problem]

[0004] At least one aspect of the present disclosure is directed to a throwing device including: a throwing surface for receiving a ball, the throwing surface configured to receive the ball and hold it in a throwing position prior to the ball being thrown; a throwing system including at least one impulse mechanism configured to impact the ball at the throwing position; and one or more control components configured to control at least one of the throwing force and the throwing trajectory of the ball thrown from the throwing position.

[0005] In one embodiment, the position of the impulse mechanism is configured to be adjustable relative to the throwing location to control the throwing trajectory. In some embodiments, the throwing device includes a first mechanical system configured to adjust the position of the impulse mechanism in a first dimension and a second mechanical system configured to adjust the position of the impulse mechanism in a second dimension. In certain embodiments, the first and second dimensions correspond to dimensions of an x-y plane. In various embodiments, the one or more control components are further configured to control at least one of the first and second mechanical systems to adjust the position of the impulse mechanism and the throwing trajectory.

[0006] In some embodiments, the throwing device includes an angled mount on which the throwing surface and throwing system are disposed, hi certain embodiments, the throwing device includes a third mechanical system configured to adjust the amount of tilt provided by the angled mount, and the one or more control components are configured to control the third mechanical system to adjust the amount of tilt provided by the angled mount and the throw trajectory.

[0007] In one embodiment, the throwing device includes a casing on which the throwing surface is disposed. In some embodiments, the throwing device includes a first mechanical system configured to tilt the casing about a first axis and a second mechanical system configured to roll the casing about a second axis. In some embodiments, one or more control components are configured to control at least one of the first and second mechanical systems to adjust the throw trajectory.

[0008] In some embodiments, the impulse mechanism includes a pneumatic cylinder and at least one movable piston positioned below the throwing location, the pneumatic cylinder configured to accelerate the at least one movable piston toward the throwing location, and the one or more control components configured to adjust the amount of pressure in the pneumatic cylinder to control the throwing force.

[0009] In one embodiment, the impulse mechanism includes an electromagnetic solenoid and at least one movable piston disposed below the throwing location, the at least one movable piston being a ferromagnetic piston, and the solenoid configured to accelerate the at least one movable piston toward the throwing location. In various embodiments, the throwing system includes a power source configured to apply a current to the electromagnetic solenoid, and the one or more control components configured to control the throwing force by adjusting the amount of current applied to the electromagnetic solenoid. In some embodiments, the power source includes one or more capacitors selectively coupled to the electromagnetic solenoid and applying a current to the electromagnetic solenoid, and the one or more control components configured to adjust a charging voltage applied to the one or more capacitors and adjust the amount of current applied to the electromagnetic solenoid by the one or more capacitors.

[0010] In some embodiments, the throwing location includes a circular opening defined within the throwing surface, the opening having a diameter smaller than the diameter of the ball, allowing the ball to be held in the throwing location and impacted by at least one impulse mechanism.

[0011] In various embodiments, the throwing surface is configured to receive the series of balls via a ball handling mechanism connected to the throwing device. In one embodiment, the ball handling mechanism includes a carousel system configured to rotate about a bearing, receive the series of balls, and present each ball in the series to the throwing surface one ball at a time. In certain embodiments, the one or more control components are further configured to operate the ball handling mechanism and control the throwing frequency of the throwing device.

[0012] In one embodiment, the one or more control components are configured to communicate with an external device, the external device being configured to control the throwing device.

[0013] Another aspect of the present disclosure is directed to a method of controlling a throwing device, the method including receiving a ball at a throwing surface configured to hold the ball in a throwing position prior to the ball being thrown, determining a desired throwing force and throwing trajectory for the ball held at the throwing position, adjusting a position of an impulse mechanism positioned below the throwing position in at least two dimensions based on the desired throwing trajectory, and using the impulse mechanism to impact the ball held at the throwing position and throw the ball from the throwing position with an amount of force corresponding to the desired throwing force. The present specification also provides, for example, the following items: (Item 1) 1. A pitching device comprising: a throwing surface for receiving a ball, the throwing surface configured to receive the ball and hold it in a throwing position prior to the ball being thrown; a throwing system including at least one impulse mechanism configured to impact the ball at the throwing location; one or more control components configured to control at least one of a throwing force and a throwing trajectory of a ball thrown from the throwing location; A pitching device comprising: (Item 2) Item 3. The pitching device of item 2, wherein the position of the impulse mechanism is configured to be adjustable relative to the throwing position to control the pitching trajectory. (Item 3) Item 3. The pitching device of item 2, further comprising a first mechanical system configured to adjust the position of the impulse mechanism in a first dimension and a second mechanical system configured to adjust the position of the impulse mechanism in a second dimension. (Item 4) Item 4. The pitching device of item 3, wherein the first and second dimensions correspond to dimensions of an xy plane. (Item 5) Item 4. The pitching device of item 3, wherein the one or more control components are further configured to control at least one of the first and second mechanical systems to adjust the position of the impulse mechanism and the pitching trajectory. (Item 6) Item 6. The throwing device of item 5, further comprising an angled mounting portion on which the throwing surface and the throwing system are disposed. (Item 7) Item 7. The pitching device of item 6, further comprising a third mechanical system configured to adjust the amount of tilt provided by the angled mount, wherein the one or more control components are further configured to control the third mechanical system to adjust the amount of tilt provided by the angled mount and the pitch trajectory. (Item 8) Item 1. The throwing device of item 1, further comprising a casing on which the throwing surface is disposed. (Item 9) Item 9. The pitching device of item 8, further comprising a first mechanical system configured to tilt the casing about a first axis and a second mechanical system configured to roll the casing about a second axis. (Item 10) Item 10. The pitching device of item 9, wherein the one or more control components are further configured to control at least one of the first and second mechanical systems to adjust the pitch trajectory. (Item 11) Item 10. The throwing device of item 1, wherein the impulse mechanism includes a pneumatic cylinder positioned below the throwing position and at least one movable piston, the pneumatic cylinder configured to accelerate the at least one movable piston toward the throwing position. (Item 12) Item 12. The pitching device of item 11, wherein the one or more control components are further configured to adjust the amount of pressure in the pneumatic cylinder to control the pitching force. (Item 13) Item 1, a throwing device according to item 1, wherein the impulse mechanism includes an electromagnetic solenoid positioned below the throwing position and at least one movable piston, the at least one movable piston being a ferromagnetic piston, and the solenoid configured to accelerate the at least one movable piston toward the throwing position. (Item 14) Item 14. The throwing device of item 13, wherein the throwing system further includes a power source configured to apply an electric current to the electromagnetic solenoid, and the one or more control components are configured to control the throwing force by adjusting the amount of electric current applied to the electromagnetic solenoid. (Item 15) Item 15. The pitching device of item 14, wherein the power source includes one or more capacitors selectively coupled to the electromagnetic solenoid to apply the current to the electromagnetic solenoid, and the one or more control components are configured to adjust a charging voltage applied to the one or more capacitors and to adjust the amount of the current applied to the electromagnetic solenoid by the one or more capacitors. (Item 16) Item 1. The throwing device of item 1, wherein the throwing location includes a circular opening defined within the throwing surface, the opening having a diameter smaller than a diameter of the ball, allowing the ball to be held at the throwing location and impacted by the at least one impulse mechanism. (Item 17) Item 1, a throwing device according to item 1, wherein the throwing surface is configured to receive a series of balls via a ball handling mechanism connected to the throwing device. (Item 18) Item 18. The throwing device of item 17, wherein the ball handling mechanism includes a carousel system configured to rotate about a bearing, receive the series of balls, and present each ball in the series to the throwing surface one ball at a time. (Item 19) Item 18. The pitching device of item 17, wherein the one or more control components are further configured to operate the ball handling mechanism and control the pitching frequency of the pitching device. (Item 20) Item 1, wherein the one or more control components are further configured to communicate with an external device, the external device being configured to control the throwing device. (Item 21) 1. A method of controlling a pitching device, the method comprising: Receiving a ball on a throwing surface, the throwing surface configured to hold the ball in a throwing position prior to the ball being thrown; determining a desired throwing force and throwing trajectory for the ball held at the throwing position; adjusting a position of an impulse mechanism located below the throwing location in at least two dimensions based on the desired throwing trajectory; using the impulse mechanism to impact the ball held at the throwing position and throw the ball from the throwing position with an amount of force corresponding to the desired throwing force; A method comprising: [Brief explanation of the drawings]

[0014] Various aspects of at least one embodiment are discussed below with reference to the accompanying drawings, which are not intended to be drawn to scale. The drawings are included to provide illustration and a further understanding of the various aspects and embodiments, and are incorporated into and constitute a part of this specification, but are not intended as a definition of the limits of the aspects and embodiments disclosed herein.

[0015] In the figures, each identical or nearly identical component that is illustrated in various figures is represented by a like number, and for purposes of clarity, every component may not be labeled in every figure.

[0016] [Figure 1A] FIG. 1A is a diagram illustrating a perspective view of a side-by-side player section layout according to one embodiment described herein. [Figure 1B] FIG. 1B is a diagram illustrating a three-dimensional (3D) rendering of the side-by-side player section layout of FIG. 1A, according to one embodiment described herein. [Figure 1C] FIG. 1C is a diagram illustrating an overhead view of the side-by-side player section layout of FIG. 1A according to one embodiment described herein. [Figure 1D] FIG. 1D is a diagram illustrating a front view of the side-by-side player section layout of FIG. 1A, according to one embodiment described herein. [Figure 1E] FIG. 1E is a diagram illustrating a cross-sectional view of the side-by-side player section layout of FIG. 1A, according to one embodiment described herein. [Figure 1F] FIG. 1F is a diagram illustrating an overhead rendering of the side-by-side player section layout of FIG. 1A, according to one embodiment described herein. [Figure 1G] FIG. 1G is a diagram illustrating a portion of the side-by-side player section layout of FIG. 1A according to one embodiment described herein. [Figure 2A] FIG. 2A is a diagram illustrating a pitching system according to one embodiment described herein. [Figure 2B] FIG. 2B is a diagram illustrating a side view of the pitching system of FIG. 2A according to one embodiment described herein. [Figure 2C] FIG. 2C is a diagram illustrating subsystems of the pitching system of FIG. 2A according to one embodiment described herein. [Figure 3A]FIG. 3A is a diagram illustrating a ball retrieval and transport system according to one embodiment described herein. [Figure 3B] FIG. 3B is a diagram illustrating a ball delivery system according to one embodiment described herein. [Figure 3C] FIG. 3C is a diagram illustrating the operation of a ball delivery system according to one embodiment described herein. [Figure 3D] FIG. 3D is a diagram illustrating the operation of a ball delivery system according to one embodiment described herein. [Figure 4A] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4B] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4C] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4D] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4E] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4F] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4G] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4H] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4I] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4J] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4K] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 4L] 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 41, 4J, 4K, and 4L are diagrams illustrating pitching devices according to embodiments described herein. [Figure 5A] 5A, 5B, 5C, 5D, and 5E are diagrams illustrating pitching devices according to embodiments described herein. [Figure 5B] 5A, 5B, 5C, 5D, and 5E are diagrams illustrating pitching devices according to embodiments described herein. [Figure 5C] 5A, 5B, 5C, 5D, and 5E are diagrams illustrating pitching devices according to embodiments described herein. [Figure 5D] 5A, 5B, 5C, 5D, and 5E are diagrams illustrating pitching devices according to embodiments described herein. [Figure 5E] 5A, 5B, 5C, 5D, and 5E are diagrams illustrating pitching devices according to embodiments described herein. [Figure 6A] 6A and 6B are diagrams illustrating the operation of a pitching device according to embodiments described herein. [Figure 6B] 6A and 6B are diagrams illustrating the operation of a pitching device according to embodiments described herein. [Figure 7] FIG. 7 is a diagram illustrating an example of triggering a pitch, according to one embodiment described herein. [Figure 8] FIG. 8 is a diagram illustrating a hopper according to one embodiment described herein. [Figure 9] 9 and 10 are connection diagrams according to embodiments described herein. [Figure 10] 9 and 10 are connection diagrams according to embodiments described herein. [Figure 11A] FIG. 11A is a diagram illustrating a strike zone according to one embodiment described herein. [Figure 11B] 11B, 11C, 11D, and 11E are diagrams illustrating example pitch trajectories according to embodiments described herein. [Figure 11C] 11B, 11C, 11D, and 11E are diagrams illustrating example pitch trajectories according to embodiments described herein. [Figure 11D] 11B, 11C, 11D, and 11E are diagrams illustrating example pitch trajectories according to embodiments described herein. [Figure 11E] 11B, 11C, 11D, and 11E are diagrams illustrating example pitch trajectories according to embodiments described herein. [Figure 12] FIG. 12 is a diagram illustrating a backstop according to one embodiment described herein. [Figure 13A] 13A, 13B, and 13C illustrate a graphical user interface (GUI) according to embodiments described herein. [Figure 13B] 13A, 13B, and 13C illustrate a graphical user interface (GUI) according to embodiments described herein. [Figure 13C]13A, 13B, and 13C illustrate a graphical user interface (GUI) according to embodiments described herein. [Figure 14] FIG. 14 is a flow diagram illustrating a method for operating a player section layout according to one embodiment described herein. [Figure 15A] 15A, 15B, and 15C are diagrams illustrating a control process for operating a player section layout according to embodiments described herein. [Figure 15B] 15A, 15B, and 15C are diagrams illustrating a control process for operating a player section layout according to embodiments described herein. [Figure 15C] 15A, 15B, and 15C are diagrams illustrating a control process for operating a player section layout according to embodiments described herein. [Figure 16A] 16A, 16B, 16C, and 16D are diagrams illustrating examples of player section layouts according to embodiments described herein. [Figure 16B] 16A, 16B, 16C, and 16D are diagrams illustrating examples of player section layouts according to embodiments described herein. [Figure 16C] 16A, 16B, 16C, and 16D are diagrams illustrating examples of player section layouts according to embodiments described herein. [Figure 16D] 16A, 16B, 16C, and 16D are diagrams illustrating examples of player section layouts according to embodiments described herein. DETAILED DESCRIPTION OF THE INVENTION

[0017] Aspects described herein are directed to a system that allows for the convenient use of a stand-alone pitching machine to pitch a ball with the ability to control the trajectory of the pitch. The aspects described herein may be designed so that they can be used in hitting areas, which may include indoor or outdoor hitting areas where players can practice hitting against hitting screens or into open fields. The aspects described herein may also be designed for use on fields and in youth games and practice sessions.

[0018] According to one implementation of the techniques described herein, a system includes a storage area configured to store a ball. The system also includes a ball thrower configured to impart a throwing force to a ball received from the storage area. In some examples, the ball thrower is located underground. The throwing force corresponds to the throwing direction and the throwing velocity of the ball, and the throwing force causes the ball to travel upward and arc through the batter's strike zone. In some examples, the ball may arc outside the strike zone, for example, if the pitch is intended to be a "ball" pitch. In embodiments including an underground thrower, the ball may pass through a hole or opening in the ground or a surface below the level of the base of the batter's strike zone.

[0019] The example methods and systems discussed herein are not limited in application to the details of the configuration and arrangement of components set forth in the following description or illustrated in the accompanying drawings. The methods and systems may be implemented in other embodiments and may be practiced or carried out in various ways. Examples of specific implementations are provided herein for illustrative purposes only and are not intended to be limiting. In particular, acts, components, elements, and features discussed in connection with any one or more examples are not intended to be excluded from a similar role in any other examples.

[0020] Also, the phraseology and terminology used herein is for purposes of description and should not be regarded as limiting. Any reference to an example, embodiment, component, element, or act of the systems and methods herein in the singular can also encompass embodiments, including the plural, and any reference to any embodiment, component, element, or act herein in the plural can also encompass embodiments, including only the singular. Reference in the singular or plural form is not intended to limit the disclosed systems or methods, their components, acts, or elements.

[0021] The use herein of "including," "comprising," "having," "containing," "involving," and variations thereof, is meant to encompass the items listed thereafter, and equivalents thereof, as well as additional items. References to "or" may be construed as inclusive, such that any term described using "or" may refer to either one, more than one, or all of the described term. Additionally, in the event of a conflict in term usage between this document and a document incorporated by reference herein, the term usage in the incorporated reference is complementary to that of this document, and in the event of an irreconcilable conflict, the term usage in this document controls.

[0022] As discussed above, it is often difficult to find enough people and suitable locations to play sports. Sports entertainment experiences attempt to enjoy sports by providing sports practice and game scenarios in casual settings, often with food, drink, and nightlife elements. Potentially, the distinction between sports entertainment facilities and sports practice facilities can be blurred. One common example of a sports entertainment and / or sports practice facility is a golf driving range. Casual golfers visit driving ranges for entertainment and socializing, while amateur and professional golfers visit driving ranges to practice / improve their golf swings and specific golf shots.

[0023] For sports involving hitting a ball, training / recreation facilities face at least two challenges: 1) presenting balls to players for play, and 2) retrieving the balls once they are presented to the player (and potentially, but not necessarily, hit by the player). In the case of a driving range, the first challenge is simply addressed by providing access to a bucket of golf balls so that players can place them on the ground or on a tee, since the rules of golf require the ball to remain stationary when struck with a golf club. The second challenge is typically addressed by having a recovery vehicle circulate around the driving range and retrieve the hit golf balls so that they can be dropped into a vending machine used to fill the bucket.

[0024] The driving range model may not be suitable for other sports. For example, in hitting games such as baseball, softball, cricket, etc., the ball generally moves toward the player when the player hits it. Furthermore, while recovery vehicles can be used to recover hit balls, such vehicles can be expensive and prone to mechanical failure due to always being in the line of sight.

[0025] Thus, provided herein is an improved pitching machine and hitting area system for training / recreation facilities. In at least one embodiment, baseballs or softballs are thrown toward players by an underground thrower. In one example, a player can attempt to hit the thrown ball with a bat, which returns the ball to the underground thrower. In other embodiments, the ball thrower can be located at ground level or above the surface on which the batter stands.

[0026] 1A-1G illustrate exemplary embodiments of side-by-side player section layouts according to aspects of the present disclosure. In other embodiments, different layouts or numbers of player sections may be used. In FIGS. 1A-1G, the player sections are for baseball / softball. In each section, a baseball / softball is thrown upward (not necessarily vertically upward) by a separate ball thrower, e.g., through a hole in the ground (for an underground thrower), toward a player holding a bat, i.e., a batter. The player can swing the bat at the thrown ball and attempt to hit it. Each section is constructed to provide automatic ball retrieval functionality. Thus, hit balls as well as missed balls can be directed to a hopper that automatically delivers them to the ball thrower, as described further herein. Note that for ease of understanding, not all player section components are labeled in all of FIGS. 1A-1G.

[0027] 1A-1G, for a baseball / softball embodiment, each player section may include home plate 4 between two batter's boxes. The area of the player section, including home plate 4 and the batter's boxes, may be generally flat (i.e., horizontal). Each section may also include a pitching deck 2 and a collection deck 3. In the illustrated example, each collection deck 3 is divided into three areas: 3a, 3b, and 3c. Each deck may be tilted so that balls landing on the deck are directed toward hopper 32. In some embodiments, at least a portion of collection deck 3 may form a surface (e.g., a bottom surface) of hopper 32.

[0028] In some embodiments, the throwing deck 2 has a downward slope of 1 to 10 degrees toward the screen 12 and / or toward the hopper 32. In the illustrated embodiment, the throwing deck 2 has a slope of approximately 2 degrees. The portion of the throwing deck 2 behind the relatively flat batter's box area may also be sloped to direct balls toward the side of the compartment. In some embodiments, regions 3a, 3b, 3c of the collection deck 3 have a downward slope of 1 to 15 degrees toward the hopper 32 and / or away from the projection screen 12.

[0029] In the illustrated embodiment, the central region 3b has a downward slope of about 10 degrees, and the side regions 3a, 3c have a downward slope of about 7 degrees. Generally, the slope of the decks 2, 3a, 3b, 3c may exceed the "breakover angle" for the type of ball being thrown, which is the minimum slope angle at which the ball can be reliably expected to roll across its perforation zone and toward the ball retrieval mechanism.

[0030] In some embodiments, pitching deck 2 is made from hardwood and recovery deck 3 is a low pile carpet or sports court material that does not interfere with the ability of balls to roll across recovery deck 3 to hopper 32. When pitching deck 2 is made from hardwood, the grain of the hardwood (and the seams between the hardwood planks) may be oriented parallel to the direction in which the balls should roll toward the hopper.

[0031] In one embodiment, the pitching deck 2 may include a suitable flooring or floor covering, such as, but not limited to, PVC, vinyl flooring, linoleum, synthetic turf, or other flooring or floor covering, that allows the ball to roll along an inclined surface, and that may also reduce light reflections, optimizing the accuracy of IR and camera ball tracking technologies.

[0032] In some examples, walls 13 separate the player compartments. In the illustrated example, at least a portion of the walls 13 are an open lattice structure. Balls hitting the walls 13 or side walls 9, 25 are directed into hoppers 32 within each compartment. In the illustrated embodiment, the player compartments are elevated and accessible via steps 7, and handrails 17 are provided to assist in climbing the steps 7. In one embodiment, a touchscreen computing device 22 is located proximate to each compartment to enable control of game functionality, as further described herein. In an entertainment setting, the player compartments may be surrounded by features such as a bar counter 8, steps 10, and guardrails 11.

[0033] In some examples, the guard 11 may extend from the top of the bar counter 8 or platform to a height sufficient to protect patrons, including patrons seated at or standing near the bar counter 8, from stray balls flying, bouncing, or otherwise entering the spectator lounge area. In some embodiments, the guard 11 may be between 6 inches and 96 inches. The guard 11 may be transparent so that patrons in the spectator lounge area can see the grasshopper and screen 12.

[0034] In each section, the player's field of view is primarily filled by a screen 12 configured to display high-definition (or ultra-high-definition) graphics while cushioning the impact of the ball as it lands on collection deck 3 and rolls toward hopper 32. Stage lighting 19 and a grid ceiling 16 may be present in some embodiments.

[0035] In some embodiments, screen 12 comprises a display screen and is capable of displaying video and / or animated graphics. In particular aspects, the graphics displayed on screen 12 show an estimated (e.g., computer-calculated or simulated) ball flight trajectory as the player swings the bat and makes contact with the ball.

[0036] For example, the section may include a projector 18 that projects graphics onto the screen 12, the graphics being dynamically generated by a computing device based at least in part on data output by the ball tracking system 14. Although shown as side-by-side, in alternative embodiments, the ball tracking system 14 may be above home plate 4 and the projector 18 may be slightly below the ball tracking system 14 and behind home plate 4 (e.g., between 3 feet and 10 feet, or possibly between 4 feet and 6 feet).

[0037] An illustrative, non-limiting example of a ball tracking system is HitTrax® (HitTrax is a registered trademark of InMotion Systems, LLC, Westborough, MA). Ball tracking system 14 may output ball tracking data such as the exit velocity of the ball off the bat, the angle of launch of the ball off the bat, the direction (e.g., horizontal angle) of the ball off the bat, the estimated distance the ball would travel if its trajectory were not obstructed by a dividing screen / wall / deck, etc.

[0038] Ball tracking system 14 may be suspended from ceiling 16 or may be mounted elsewhere within the bay (e.g., on a wall, within home plate 4, on pitching system 100 itself). In some embodiments, speakers or sound bars may also be mounted within ceiling grille 16 to output sound effects / music.

[0039] 1A-1G, in some embodiments, cameras may be placed around the hitting area. For example, the cameras may have views of the batter's swing from various angles, e.g., from "first base," "second base," and "third base," and footage from such cameras (which may in some cases include captured audience reactions from people behind the batter, such as at the bar counter 8, other seating areas, etc.) may be used for ball tracking purposes, to generate entertainment replay footage, to automatically generate content for posting to social media websites, or for display on various screens / devices within the facility, etc.

[0040] In certain embodiments, balls may be thrown upward by a ball thrower through a hole 33 in the ground, also referred to herein as a "throwing circle." In some embodiments, the hole 33 is located within an access door 21 that is part of each compartment's pitching deck 2. FIG. 1E illustrates an example of a ball thrower (alternatively referred to herein as a pitching system, pitching machine, or pitching device) 100 configured to throw balls through the hole 33.

[0041] In some embodiments, hole 33 and home plate 4 may support multi-color lighting that may convey information to players, as shown in FIG. 1G. To illustrate, the perimeter of hole 33 and the perimeter of home plate 4 may change to a particular color and / or flash in a particular pattern to indicate that a ball throw is about to occur, that the ball thrower has experienced an error, that play has been paused / interrupted, game play targets on the screen or in the field that players should aim at, etc.

[0042] In certain embodiments, holes 33 have side panels or other features to provide at least some protection from ball penetration. In certain embodiments, home plate 4 is infrared (IR) transparent and includes an IR sensor configured to detect when a player swings the bat over home plate 4. Swinging the bat over home plate 4 may be interpreted as a signal that the player is ready for the ball to be pitched. Swinging the bat or making some other appropriate gesture over home plate (e.g., one swing, two swings, three swings, or a vertical swing gesture) may also be used to indicate the type of pitch desired by the batter.

[0043] In other embodiments, players may be recognized (and that data entered into a computing device for practice / game play tracking) and pitches may be triggered based on the player having a radio frequency identification (RFID) tag (e.g., in a batting glove, bat, etc.) and moving the RFID tag into proximity with RFID reading circuitry in the player's section.

[0044] The operation of an illustrative embodiment of pitching system 100 is described with reference to Figures 2A-7. Pitching system 100 may be a stand-alone programmable pitching system / device / robot with the ability to control the trajectory of a pitch. It should be understood that trajectory control includes both throw angle control (e.g., in at least two dimensions) as well as initial throw velocity control. Trajectory control may also include imparting spin to the ball. In one example, having command of the trajectory of a pitch, the pitching system may accurately project the ball to various locations, for example, within and around the strike zone.

[0045] For example, the strike zone may be the 3D volume of space above home plate extending from the hollow between the batter's kneecaps to the midpoint between the top of the batter's pants and the top of the batter's shoulders. Thus, the boundaries of the strike zone may change as the batter's stance changes. To illustrate, the top / bottom of the strike zone may be at a different height for a shorter player than for a taller player, and even for players of similar height, one may have a crouched stance and another a more upright stance.

[0046] For training or playing purposes, a player's strike zone may be set based on, for example, an "average" strike zone for a player of a particular or similar height, or the strike zone may be dynamically calculated based on the player's height and other body dimensions, including the player's knee height, the player's shoulder height, etc. In some embodiments relating to the dynamic calculation of a "bat" player's strike zone, cameras around the perimeter of the lot detect the batter's stance, and computer vision capabilities are used to determine the boundaries of the strike zone for that batting stance.

[0047] Based on such a dynamically calculated strike zone, or a pre-set or predetermined strike zone, the pitching machine can adjust the parameters of the ball pitch to place the ball within or around the defined strike zone for the player at bat. The pitching machine may achieve this placement by varying system parameters, including, but not limited to, tilt, roll, and throw velocity (i.e., power delivered to the piston, e.g., air pressure, solenoid, etc., as further described herein).

[0048] The tilt, roll, and / or throwing velocity determination functions in the pitching machine, when the pitch is assumed to be targeted to the top / bottom of the strike zone (e.g., using the GUI of Figures 13A-13C), may be dynamically adjusted so that the pitch is appropriately placed at the top / bottom of the strike zone as defined for the current batter / batting stance. As further described herein, tilt and roll may correspond to two distinct orthogonal axes of motion of the pitching machine (or at least a portion thereof).

[0049] The trajectory control capabilities of pitching system 100 may allow a user (e.g., a batter or another user playing a game with or against the batter) to select a location within or outside the strike zone where the ball should be pitched. Controlling the flight of the ball through the strike zone may help a batter practice hitting balls at various locations within and around the strike zone, and hitting balls pitched at various velocities.

[0050] 11A illustrates the pentagonal prism shape of the strike zone. By controlling the throwing direction and initial velocity of the ball, pitching system 100 may control the point at which the ball enters and exits the strike zone. The throwing direction may be a 3D vector that may be represented according to Cartesian concepts (e.g., X, Y, and Z components) or cylindrical concepts (e.g., R, Z, and theta components). Thus, adjusting the throwing direction of the ball may include modifying one, two, or all three components.

[0051] In a recreational setting, it is expected that the trajectory of a thrown ball will be a slow arc passing through the strike zone (e.g., arcing downward) in a manner that leads to a hit. Figures 11B, 11C, 11D, and 11E illustrate examples of such trajectories (although a 3D volume is shown in Figure 11B, the batter is not shown, and therefore there are no specifically determined lower or upper boundaries for the strike zone in Figure 11B). It should be understood that the pitching machine disclosed herein is capable of pitching balls for practice / game play to both right-handed and left-handed batters without requiring manual intervention when the batter's handedness changes.

[0052] The disclosed pitching machine may be preferable to a "side-throw" machine that pitches balls to right-handed batters from a location in or behind a left-handed batter's box, and vice versa, because the "side-throw" machine would need to be manually moved to the other side of home plate each time the batter changes handedness. The disclosed pitching machine is also preferable to the use of an L-shaped screen to protect a human pitcher during practice, for example, because a separate pitcher is not required for the disclosed pitching machine, because setting up and dismantling the L-shaped screen can be time-consuming, and because hit balls will not automatically be returned to the human pitcher behind the L-shaped screen.

[0053] The disclosed throwing machine may also provide a preferable and more durable solution compared to battery-powered throwing machines. For example, a battery-powered throwing machine may provide control over the height of the throw, but as the battery becomes depleted, a selected height setting (e.g., 7 out of 10 times) may result in lower and lower throws. Even in throwing machines that run on rechargeable batteries, repeated recharge cycles may degrade battery performance, especially in the case of lead-acid batteries.

[0054] Additionally, the disclosed pitching machine may be preferable for those who throw the ball from the bottom plate, since baseball / softball players are typically taught to hit the ball before it crosses home plate so that their arms can be extended and the ball can be hit with more force.

[0055] Turning to Figure 2A, an embodiment of pitching system 100 is illustrated. A side view of pitching system 100 is shown in Figure 2B. With reference to Figure 2C, two subsystems may be included within pitching system 100.

[0056] The first subsystem of throwing system 100 is ball retrieval and delivery system 200, while the second subsystem is throwing device 300 (i.e., ball thrower). In one embodiment, ball retrieval and delivery system 200 is connected to throwing device 300 via a length of flexible tubing, such as hose 250. The function and components of each subsystem are further described below.

[0057] 3A shows components of ball retrieval and delivery system 200. Ball retrieval and delivery system 200 is designed to retrieve, store, and deliver balls to throwing device 300. As used herein, "ball retrieval" refers to a mechanism that allows balls to be retrieved or delivered to ball retrieval and delivery system 200 from an external location.

[0058] The outer body that delivers the balls to the ball retrieval and transport system 200 can be a hopper, funnel, or another mechanism that delivers the hit (or missed and rolled) balls to the ball retrieval and transport system 200.

[0059] An example of an outer body for delivering balls to ball retrieval and transport system 200 is shown in Figure 3B. In this example, mouth 263 of hopper 260 may receive balls 262 from another mechanism, such as a hitting screen 264 or a hitting target equipped with a ball-catching net or mesh trap attached to the periphery of hopper mouth 263. Additionally, hopper 260 delivers balls through orifice 261 to ball retrieval and transport system 200 during play.

[0060] 3B shows the hopper 260 full of balls, it should be understood that such illustration is only to show an example of the relative size of the hopper 260 to the size of the individual balls. For example, in practice, the hopper 260 may be only partially filled with balls.

[0061] In some embodiments, as shown on the right side of Figure 3B, there may be only one ball in hopper 260 at a time, and the ball may be caught after contacting striking screen 264 (e.g., screen 12). In some embodiments, ball containment may occur within ball retrieval system 200, and hopper 260 may act as a funnel or guide, returning any loose balls that have just been struck (or missed) into ball retrieval track 210.

[0062] This type of implementation may be preferable, for example, due to the ultimate goal of having the balls travel in a single file prior to launching the throwing device 300. Thus, if the hopper 260 becomes too full, regardless of the size of the orifice 261 or the hopper 260, the balls may have a chance of getting stuck and / or jammed within the hopper 260. This may be due, for example, to the weight, material, surface finish, size, and / or surface features of the balls in use.

[0063] In some implementations of the hopper, this may not be an issue based on the geometry (e.g., implementations based on ball bearings or granular surface / feed hoppers), and thus the system may utilize a passive hopper in effect. However, allowing the illustrated hopper 260 to become too full may require an agitation system or anti-jam mechanism (e.g., pinball flippers, vibration motors, etc.) to address jamming.

[0064] Rather than implementing such an agitation or jam prevention system, the described embodiments may maintain a passive hopper and attempt to have as few balls as possible in the hopper at one time. In some examples, the hopper 260 relies on other components, such as a ball recovery rack, for ball storage.

[0065] Orifice 261 of hopper 260 may be connected to front end 201 of ball retrieval and transport system 200 shown in FIG. 3A. As will be discussed in more detail below, ball retrieval and transport system 200 may include ball retrieval track 210. Ball retrieval track 210 may be a single track that allows one ball at a time to be delivered and roll along it. Thus, the size of orifice 261 of hopper 260 may be advantageously reduced.

[0066] In certain embodiments, all of the ball retrieval tracks and hoses (210, 240, and 250) would ideally be full of balls. In one embodiment, the balls may be filled up to the location of the shield 230 illustrated in FIG. 3A, allowing for storage of the balls in a single file. As each ball is thrown, all of the balls roll forward one ball diameter, clearing space for the thrown ball to roll back into the ball retrieval system. Thus, the track configuration may allow multiple balls in a single file to be delivered and ultimately rolled down the track to the ball throwing mechanism.

[0067] An orifice with a diameter small enough to allow one ball at a time to be delivered into ball retrieval and transport system 200 can reduce the likelihood of "ball jamming," which occurs when two balls are delivered into the location of one ball, which can cause a jam in the hopper and require human or mechanical intervention.

[0068] The throwing system may be located within a hitting area (e.g., a player's section) designed so that a ball that is hit and falls to the floor of the hitting area is directed to the throwing system, which then throws the ball to ball retrieval and transport system 200. As used herein, the term "hitting area" includes, but is not limited to, fields and indoor and outdoor areas designed for baseball and softball practice or game play.

[0069] In one example, a ball can be struck into a receiving net (which may or may not also be equipped with a striking target), which directs the struck ball to a delivery system. This example is illustrated in FIG. 3C. A delivery system, such as a hopper 260, is located within a striking area 280. A ball 262 struck against the receiving net 270 falls onto a floor 281 of the striking area 280 and is directed toward the hopper 260. In some embodiments, the hopper 260 may be located below (or directly below) the receiving net 270 (or alternatively, a screen, such as striking screen 264 or screen 12).

[0070] It should be understood that the embodiments described herein are not limited to any particular type of hopper. While the use of a passive hopper is described above, in other examples, the ball delivery system may include an agitation system to prevent and / or resolve balls getting stuck in the hopper. For example, FIG. 3D illustrates a ball delivery system including an agitation system 265 configured to provide continuous or periodic physical agitation (e.g., bumping, vibration, etc.) to the hopper 260.

[0071] Using a receiving net or hitting screen 264 to circulate hit balls can extend game play and give users of the throwing system 100 a competitive advantage because a well-hit ball can be hit into the net rather than being a "foul" outside the retrieval range of the ball retrieval system. Hitting the ball into the net or screen helps keep the ball circulating without having to pause to retrieve a ball that has been hit off-track.

[0072] 3A, when a ball is thrown into front end 201 of ball retrieval and transport system 200, the ball rolls along ball retrieval track 210. Ball retrieval track 210 is supported by support columns 220. Switchbacks 240 can be attached to ball retrieval track 210 at various locations to create any number of turns at various angles (e.g., 45, 60, 90, or 180 degrees), effectively changing the direction the ball travels.

[0073] Switchback 240 allows for the creation of a longer ball retrieval track within a volume of space compared to a straight ball retrieval track design within the same volume of space. One or more shields 230 can be attached to ball retrieval track 210 at various locations to prevent balls from falling off ball retrieval track 210. In the illustrated embodiment, shields 230 are disposed at front end 201 of ball retrieval and transport system 200, where the balls are delivered.

[0074] In other embodiments, shielding may also or alternatively be disposed around turns in ball retrieval track 210 created by switchbacks 240. In some embodiments, sensors for monitoring and detecting the ball queue may be present, for example, via embedding in components such as shielding 230. In certain embodiments, sensors may be used to detect the quantity and / or quality of balls in the ball queue.

[0075] For example, the sensor may be a density sensor configured to detect / determine the density of each ball. An example of such a sensor is designated in Figure 3A as 235. In one example, sensor 235 is configured to detect poor quality balls that should be removed from circulation.

[0076] As shown in Figure 3A, rear end 241 of ball retrieval truck 210 is connected to first end 251 of flexible hose 250. Referring to Figure 4A, second end 252 of flexible hose 250 is routed through collar 310, which is mounted to rear end 520 of throwing device 300 (i.e., ball thrower), connecting throwing device 300 to ball retrieval and transport system 200.

[0077] In one embodiment, flexible hose 250 is not mechanically fastened to collar 310. Rather, there is a slip fit between collar 310 and flexible hose 250, meaning that collar 310 holds flexible hose 250 while also allowing it to translate through and rotate within it (thus staying within collar 310 as rolling and tilting are accommodated). Allowing flexible hose 250 to translate through and rotate within collar 310 facilitates the various types of motion achievable with throwing device 300.

[0078] As will be discussed in more detail below, throwing device 300 is designed so that it rolls on or about a first axis and so that its rear end 520 can be lifted upward (i.e., throwing device 300 can tilt on or about a second axis). The flexibility of flexible hose 250 and its ability to translate through and rotate within collar 310 allows throwing device 300 to achieve the tilting and rolling motion without causing any disturbance to the rest of the system, e.g., ball retrieval and transport system 200.

[0079] The pitching device 300 is designed to pitch a ball over a specific area or within a defined volume. For example, the pitching device 300 can pitch a baseball above home plate and within the strike zone for a batter to hit the ball and knock it against a screen or into open field. The pitching device 300 is designed with the ability to control variables such as the trajectory of the pitch (including, for example, initial velocity and throw direction). The ability to control such variables allows the pitching device 300 to pitch the ball to a very specific location within the strike zone and impact the highest point of the pitch.

[0080] 4A , as the ball exits second end 252 of flexible hose 250, it rolls on throwing box 320. In one embodiment, throwing box 320 is secured to mount 330, which is secured to base box 340. Throwing box 320, mount 330, and base box 340 are supported by support frame 350. In some embodiments, support frame 350 is attached via hinge 360 to vertical support 370, which effectively provides axis 361 about which throwing device 300 can tilt.

[0081] In one embodiment, vertical support 370 is connected to base plate 380. Also shown in Figure 4A, a safety sensor 390 may be mounted near front end 301 of throwing device 300. As will be discussed in more detail below, the ball is thrown from a throwing location within throwing box 320.

[0082] In some examples, the throwing location is mounted near the front end 301 of the throwing device 300. The safety sensor 390 may prevent the throwing device 300 from throwing the ball when an obstacle is present above the throwing location (e.g., a user looking into the throwing location). In one embodiment, the safety sensor 390 is an ultrasonic sensor, the sensitivity of which is adjustable. A side view of the throwing device 300 is shown in FIG. 4B.

[0083] It should be understood that the throwing box 320, the mount 330, and the base box 340 may each be manufactured separately and mechanically attached together, or may be manufactured as a single integrated unit. The throwing box 320, the mount 330, and the base box 340, whether manufactured individually or as an integrated unit, are collectively referred to herein as the casing.

[0084] An embodiment in which the casing is manufactured as an integrated unit is shown in Figure 4C. In this embodiment, the casing 341 may be manufactured with removable side panels 342 that allow easy access to the interior of the casing 341 for maintenance and repair of the components housed within the casing 341.

[0085] In some embodiments, the components within the casing may be modular and therefore interchangeable. To illustrate, the same ball thrower may be used for different kinds of balls (e.g., baseballs, pickleballs, footballs, etc.), with only certain components being swapped out depending on the type of ball being thrown, the desired throwing mechanism, etc.

[0086] 4D illustrates components that may be housed within casing 341. For example, casing 341 may house solenoid 343, capacitor bank 345, storage gate 321, throw gate 322, and controller 346. In one embodiment, an opening in the upper surface of casing 341 defines throw location 323. Thus, the portion of throwing box 320 "upstream" from throw location 323 may be considered a ball storage area, from which balls are delivered to throw location 323, one ball at a time.

[0087] Depending on the implementation, the hopper, tubing, and / or ball retrieval track may also be considered a ball storage area. In some embodiments, the solenoid 343 includes a ferromagnetic piston (alternatively referred to herein as a plunger) 344 and is positioned below the throw location 323.

[0088] It should be understood that not all of the components shown in Figure 4D may be housed within casing 341. For example, as shown in Figure 4E, components other than solenoid 343, piston 344, and gates 321-322 may be contained within a control cabinet 367 external to casing 341. In one embodiment, external control cabinet 367 houses capacitor bank 345, controller 346, and electronics, power supplies, wiring, motor controllers, etc., collectively shown at 368.

[0089] 4D and 4E, solenoid 343 can be selectively connected to capacitor bank 345 using switch 366 (which may be, for example, a field effect transistor (FET) that is external to casing 341 in some embodiments). In other examples, solenoid 343 may be connected to capacitor bank 345 in a different manner.

[0090] Controller 346 is configured to control throwing device 300. Together, storage gate 321 and throwing gate 322 form a gate system having a see-saw configuration that allows one ball at a time to be thrown forward to throwing location 323. In this manner, the gate system coordinates the movement of balls from front end 201 of ball retrieval track 210 shown in FIG. 3A to throwing location 323.

[0091] In one example, the components housed within casing 341 are the same components housed within base box 340 in the embodiment shown in Figures 4A-4B. In the embodiment shown in Figures 4A-4B, the gate system extends from base box 340 and passes through pedestal 330. Additional information regarding ball throwing mechanism and control embodiments is described with reference to Figures 9-10.

[0092] 4F shows storage gate 321 and throwing gate 322 of throwing box 320 and throwing location 323 from which the ball is thrown. In both embodiments, the gate system is designed so that as one gate is lowered, the other gate is raised in a see-saw fashion. In some implementations, storage gate 321 and throwing gate 322 are separated by a distance less than twice the diameter of the ball but greater than the diameter of the same ball.

[0093] The operation of the gate system is further illustrated in Figure 4G (the ball rolling path is shown as generally horizontal in Figure 4G, but it should be understood that the path may actually be tilted downward to allow the ball to roll to throw location 323). Referring to the top schematic diagram of Figure 4G, at rest, a first ball, i.e., ball 347, is seated at throw location 323. The weight of piston 344 drives throw gate 322 upward, blocking a second ball, i.e., ball 348, from advancing forward to throw location 323.

[0094] As throw gate 322 drives upward, it extends tension spring 392, lowering storage gate 321. In one embodiment, these relative movements are accomplished through a series of pivots, such as gate pivot 393A and piston pivot 393B, and linkages, such as gate linkage 394A and piston linkage 394B.

[0095] 4G, when solenoid 343 is energized, piston 344 moves upward and strikes ball 347 at throwing position 323. Tension spring 392 returns to its retracted position, which drives throwing gate 322 downward and storage gate 321 upward, allowing ball 348 to roll into throwing position 323 so that it is in position for throwing.

[0096] In some embodiments, storage gate 321 prevents a third ball, such as ball 391, from interfering with ball 348 while it moves to throw position 323. Once solenoid 343 is de-energized, piston 344 drops onto piston linkage 394B, which drives throw gate 322 upward and storage gate 321 downward. This may allow ball 391 to roll up to throw gate 322, and the cycle is ready to repeat in the same manner.

[0097] In one embodiment, the peak point of the throw may depend on the force with which the ball is struck. In some embodiments, the mass of piston 344 is fixed and the acceleration can be varied to achieve a level of force, and therefore the peak point of the throw. The amount of current applied to solenoid 343 may also be adjusted to impact the acceleration of piston 344.

[0098] In one embodiment, a large amount of current may be utilized to accelerate piston 344 at a desired rate. For this reason, solenoid 343 may be connected to a high voltage, high capacity capacitor (e.g., capacitor bank 345).

[0099] In some embodiments, the capacitors (i.e., capacitor bank 345) can be discharged in a highly controllable manner. For example, by controlling the charging voltage applied to the capacitors prior to discharge, and therefore the total charge stored in the capacitors, the initial throwing velocity of the pitch may be controlled.

[0100] Thus, the use of a capacitor allows a variable force to be applied to the ball. In another embodiment, the voltage applied to the capacitor may be held fixed and the variable force may be controlled based on the duration of time that current is provided through the coil (e.g., varying the coil on time) and / or a pulse width modulated (PWM) signal applied to a switch (e.g., a switching FET).

[0101] Additionally, current may be provided to turn the coil on and off very frequently at a variable duty cycle, which can have the same effect as adjusting the voltage without modulating the voltage source.

[0102] In certain embodiments, the throwing device 300 may be configured with a solenoid piston array, with each piston in the array configured to fire at different times, e.g., a few microseconds or less. By introducing slight variations in the piston firing timing, spin may be imparted to the ball upon throw, allowing for the approximation of different types of throws (e.g., cutters, curveballs, etc.).

[0103] In yet another embodiment, a spin damper may also be present in the throwing path of the ball to eliminate ball spin so that a knuckleball may be approximated. For example, two spin dampers may "sandwich" the ball as it is thrown, eliminating spin and approximating a knuckleball.

[0104] The gate system shown in Figures 4D-4G may be used in conjunction with ball retrieval track 210 shown in Figure 3A to store balls prior to throwing. As explained above, when a ball is delivered into front end 201 of ball retrieval and transport system 200 shown in Figure 3A, the ball rolls along ball retrieval track 210. Ball retrieval track 210 is a single-line track designed to allow one ball to be delivered to throwing device 300 at a time.

[0105] In one embodiment, a first ball from a series of balls delivered into ball retrieval and transport system 200 rolls along ball retrieval track 210 until stopped by storage gate 321, as shown in Figures 4D-4G. A second ball delivered into ball retrieval and transport system 200 rolls along ball retrieval track 210 until stopped by the first ball at storage gate 321, and so on.

[0106] Together, the single track design of ball retrieval track 210 and storage gate 321 may allow for the formation of a queue of balls that extends from front end 201 of ball retrieval track 210 to storage gate 321 within throwing device 300. Such a system effectively creates a storage mechanism for storing and monitoring balls prior to throwing.

[0107] 3A, switchbacks 240 can be attached to ball retrieval track 210 at various locations to create any number of turns at various angles. Switchbacks 240 allow for the creation of a longer ball retrieval track in a smaller volume of space compared to a straight ball retrieval track design in the same amount of space. Switchbacks 240 effectively allow more balls to be stored on ball retrieval track 210 than if ball retrieval track 210 were straight.

[0108] 4H, a side view of the throwing device 300 is shown. In one embodiment, the throwing device 300 is designed to have at least two degrees of freedom. In some embodiments, the throwing device 300 can tilt and roll. These two types of motion can impact the throwing direction (or throw vector) of the pitch.

[0109] The components of the throwing device 300 involved in generating the tilting motion include a motor 430, which may be a stepper motor (or a DC servo motor or another motor with position control), a lead screw 440, a carriage 450, a mechanical retainer 480, a sliding guide 490, a linkage 460, a shaft 400, and a v-roller 410.

[0110] 4H, stepper motor 430 is connected to lead screw 440, carriage 450 is a screw-driven carriage whose movement is facilitated by slide guides 490, carriage 450 and mechanical retainer 480 are both connected to shaft 400 via linkage 460, and v-roller 410 rides on shaft 400. The stepper motor / lead screw design can allow for adjustable tilt while keeping the motor in a fixed position, which is advantageous for wire / cable management.

[0111] Note that carriage 450 and mechanical retainer 480 extend across the width of base plate 380 (i.e., across the page, see FIG. 4H), and there are two sets of links connecting carriage 450 and mechanical retainer 480 to each end of shaft 400. A first set of links, namely links 460, is shown in FIG. 4H, while a second set of links, not shown, extends parallel to links 460 on the other side of base plate 380.

[0112] Figure 4A provides a different perspective showing v-rollers 410 mounted on shaft 400. In one embodiment, v-rollers 410 roll on v-groove tracks. As shown in Figure 4A, support frame 350 has a bar 420 with v-grooves that effectively acts as the v-groove track on which v-rollers 410 roll up and down. Other alternatives to the v-roller and v-groove track system include, but are not limited to, sliding joints and vertical lead screws.

[0113] 4H, when stepper motor 430 operates, lead screw 440 pivots. As lead screw 440 pivots, carriage 450 moves to either the left or right side of sliding guide 490, depending on the direction of rotation of lead screw 440. As carriage 450 moves on sliding guide 490, shaft 400 moves either upward or downward, depending on the direction carriage 450 moves.

[0114] For example, as carriage 450 drives left toward stepper motor 430, shaft 400 moves upward. Carriage 450 pushes shaft 400 upward or downward using linkage 460 and mechanical retainer 480. As shaft 400 moves upward or downward, v-roller 410 rolls in the same direction along v-bar 420.

[0115] Movement of shaft 400 and v-roller 410 relative to support frame 350 (including v-bar 420) causes throwing device 300 to tilt about axis 361 (axis 361 is shown in FIG. 4A). In this manner, linear motion of carriage 450 is translated into rotational or tilting motion of throwing device 300 using the components described above.

[0116] The tilting motion of the throwing device 300, in one embodiment, can span an arc of about 40 degrees (eg, about 5 degrees to about 45 degrees), as shown in FIG. 4J.

[0117] 4H, it should be appreciated that serviceability of the throwing device 300 can be easily performed. Various components of the throwing device 300 can be separated, allowing for targeted service.

[0118] For example, flexible hose 250 can be easily withdrawn because there is a slip fit between collar 310 and flexible hose 250. Once flexible hose 250 is withdrawn, because support frame 350 is not permanently affixed to shaft 400 and roller 410, support frame 350 can be manually lifted from the unhinged end and tilted to separate the components above support frame 350 from the components below.

[0119] In addition to tilting, as described above, throwing device 300 is capable of rolling. Referring to Figure 4H, throwing device 300 is designed to roll about axis 514 using stepper motor 500, worm gear system 510, and shafts 513A and 513B. Stepper motor 500 and worm gear system 510 are positioned at rear end 520 of throwing device 300.

[0120] It should be understood that shafts 513A and 513B do not pass through cradle 330. Rather, shafts 513A and 513B are mounted on the outside of cradle 330, one shaft at each of the two ends of cradle 330, as shown in FIG. 4H. Shafts 513A and 513B are aligned along the same axis, i.e., axis 514. Shafts 513A and 513B are supported by mechanical bushings within mounting portions 515A and 515B, respectively, and can be supported by other types of bearings as well.

[0121] Referring to Figure 4I, the components of worm gear system 510 are shown. Worm gear system 510 consists of worm 511 and worm gear 512. Worm gear 512 shares the same axis, i.e., axis 514, with shafts 513A and 513B, shown in Figure 4H. When stepper motor 500 operates, it orbits worm 511. Worm 511 in turn orbits worm gear 512, which orbits shaft 513A.

[0122] Worm gear 512 varies the rotational movement of worm 511 (e.g., at a 90 degree angle) due to the way worm 511 and worm gear 512 are mounted relative to each other. Rotation of shaft 513A causes platform 330 to roll about axis 514 using shaft 513B. Throwing box 320 and base box 340 roll in the same manner as platform 330 due to their attachment to platform 330 on each side.

[0123] The rolling motion of the throwing device 300, in one embodiment, may span an approximately 60 degree arc (e.g., from approximately -30 degrees to approximately +30 degrees, with 0 degrees being vertical / centered), as shown in Figure 4J. The stepper motor / worm gear / worm design may allow for adjustable rolling while keeping the motor in a fixed position, which is advantageous for wire / cable management.

[0124] As described above, hose 250 may be flexible. This may include accordion-style extension / retraction and / or the ability to be pushed inward or pulled outward through a sliding joint. To illustrate, as shown in FIG. 4K, an embodiment of a throwing system is designated as 400 and includes hose 251 that can extend / retract and / or be pushed inward or pulled outward through a sliding joint as the ball thrower moves on rail 381.

[0125] In an illustrative embodiment, the ball thrower can move within a range from approximately 1 foot to the side of home plate 4 to approximately 30 feet to the side of home plate 4. More specifically, the ball thrower can move within a range from approximately 5 feet to the side of home plate 4 to approximately 20 feet to the side of home plate 4.

[0126] In some examples of such embodiments, the ball thrower may remain vertically below home plate and throw the ball through a hole 33 in the floor. The hole 33 may be non-circular (e.g., oval or teardrop shaped) or may itself be movable (e.g., to various locations within the access door 21) to match the movement of the ball thrower along the rail 381.

[0127] When dynamic strike zone calculation is enabled, sensors (e.g., inertial sensors, motion sensors, computer vision sensors, etc.) may be configured to determine the distance the pitching machine is located from the front of home plate 4, and this distance may be used to determine tilt, roll, and / or throwing speed adjustments to place the ball in a particular portion within (or outside) the strike zone.

[0128] In some embodiments, the ball retrieval system may have built-in sorters for different types of balls. For example, the same hopper may deliver balls to multiple ball retrieval tracks. The tracks for larger balls (e.g., softballs) may have holes small enough for the larger balls to roll through, but small enough for smaller balls (e.g., baseballs) to fall onto a different ball retrieval track, as shown in FIG. 4L.

[0129] In the flexible tubing 250, a mechanical switch 492 may be actuated to select the size of ball to be delivered to the ball-throwing mechanism. The mechanical switch 492 may be electronically controlled, for example, via user input on a touch screen, so that different users can select whether they want to hit a baseball or a softball.

[0130] 5A-5E illustrate a throwing device 600 according to aspects described herein. In one embodiment, the throwing device 600 can be utilized as a second subsystem (i.e., a throwing device) included within the throwing system 100 of FIG. 2A.

[0131] 5A-5E, the throwing device 600 includes a ball holder 602, an impulse mechanism 604, a first adjustment stage 606, a second adjustment stage 608, a carousel throwing section 610, a gear assembly 612, an angled mounting section 614, and a loading chute 616. In some embodiments, the throwing machine 600 includes a ball parameter sensor 618.

[0132] In one embodiment, loading chute 616 is connected to a ball source (e.g., a ball retrieval and delivery system of throwing system 100) and receives a ball or series of balls. Carousel throw 610 may be operated to receive balls from loading chute 616. As shown in FIG. 5D , carousel throw 610 may include multiple ball slots 620 a, 620 b, 620 c that may rotate about bearings 622.

[0133] In other embodiments, carousel throw 610 may include a different number of ball slots. In one embodiment, gear assembly 612 is configured to rotate carousel throw 610 such that each ball received by loading chute 616 is provided to one of ball slots 620 a, 620 b, 620 c. Angled mount 614 may provide a tilt or incline that allows balls received by loading chute 616 to be passively transported (i.e., via gravity) to slots 620 a, 620 b, 620 c.

[0134] In some embodiments, carousel throw 610 includes one or more sensors configured to determine which slots are empty (or full), and gear assembly 612 can be operated to rotate carousel throw 610 accordingly.

[0135] In one embodiment, the dimensions of each ball slot 620a, 620b, 620c are slightly larger than the ball diameter so that balls can be transported from loading chute 616 with minimal friction. In some embodiments, throwing device 600 is configured to support multiple types of balls (e.g., baseballs and softballs), and the dimensions of the ball slots may correspond to the largest ball diameter (e.g., softball) that will be supported. In other embodiments, carousel throwing section 610 may be removable, and different throwing sections may be attached / detached to support various ball types.

[0136] 5D, ball holder 602 includes a throwing surface 624 configured to receive and hold a ball at a throwing location 626. Throwing location 626 may correspond to an opening (i.e., a circular cutout) defined in throwing surface 624 of ball holder 602.

[0137] Carousel throw 610 is rotated to deliver a ball from one of ball slots 620a, 620b, 620c to throwing surface 624. Based on the tilt provided by angled mount 614, the ball can be passively transported (i.e., via gravity) from the ball slot to throwing surface 624 of ball holder 602. As shown, ball holder 602 includes stop ridge 628 to allow the ball to roll down throwing surface 624 and settle at throwing position 626.

[0138] In some embodiments, the rotation of the carousel throwing section 610 is controlled to set the throwing frequency. For example, the carousel throwing section 610 may be rotated to present balls to the throwing surface 624 at a desired rate. In other embodiments, the throwing surface 624 may include a gating system similar to the gating system of the throwing device 300 shown in FIGS. 4D-4E to control the throwing frequency.

[0139] Impulse mechanism 604 is positioned directly below throwing position 626 and is configured to impact a ball held at throwing position 626. Similar to throwing device 300 of FIGS. 4A-4L, impulse mechanism 604 may include an electromagnetic solenoid (i.e., a coil) configured to accelerate movable piston 632.

[0140] In one embodiment, the electromagnetic solenoid is selectively connected to a power source, such as a capacitor bank. As described above, an electric current may be applied from the power source to the electromagnetic solenoid, accelerating piston 632 and causing it to impact a ball held at throwing position 626.

[0141] The amount of current applied to the electromagnetic solenoid can be adjusted to control the amount of force (or power) delivered by impulse mechanism 604 upon impact with the ball. In some embodiments, the amount of power (or force) delivered by impulse mechanism 604 can be adjusted to control the trajectory of the pitch.

[0142] In one example, throwing device 600 includes a thermal sensor configured to measure the temperature of the electromagnetic solenoid or a temperature associated with the electromagnetic solenoid (e.g., impulse mechanism 604). In some examples, the temperature measured by the thermal sensor may be used to adjust the amount of current applied to the electromagnetic solenoid.

[0143] For example, if the throwing device 600 is operated for an extended period of time, the temperature of the electromagnetic solenoid may increase and a larger current may be required to generate the expected amount of force.

[0144] In another embodiment, impulse mechanism 604 includes a pneumatic cylinder. The pneumatic cylinder may be configured to use compressed air or other gas to accelerate movable piston 632 to impact a ball held in throwing position 626. The amount of pressure in the pneumatic cylinder can be adjusted to control the amount of power (or force) delivered by impulse mechanism 604 when impacting the ball.

[0145] Similarly, the amount of pressure in the pneumatic cylinder can be adjusted to control the trajectory of the pitch. In some embodiments, the pitching device 600 includes a reservoir of compressed air (or gas) connected to the pneumatic cylinder of the impulse mechanism 604.

[0146] In some embodiments, movable piston 632 can be adjusted to maintain an optimal point of impact between impulse mechanism 604 and a ball held in throwing position 626. For example, the length of movable piston 632 may be adjusted based on the type of ball being thrown (e.g., a baseball or a softball) to maintain the optimal point of impact and provide consistent performance for different types of balls. In one embodiment, the optimal point of impact refers to the point of impact at which the greatest amount of energy is transferred from movable piston 632 to the ball being thrown.

[0147] In some examples, the amount of force delivered by impulse mechanism 604 may correspond to the physical properties of the ball held at throwing location 626. For example, the quality of balls in circulation may deteriorate over time, and the amount of force delivered by impulse mechanism 604 may be adjusted / calibrated for each ball to maintain consistent performance despite potential variations in the ball's coefficient of restitution (e.g., elasticity or springiness).

[0148] Additionally, the amount of force delivered by impulse mechanism 604 may correspond to the type of ball being thrown (e.g., a baseball, a cricket ball, or a kickball). As shown in FIG. 5B, a ball parameter sensor 618 is positioned proximate to loading chute 616 and configured to detect / measure various parameters of the balls received by loading chute 616. In one embodiment, ball parameter sensor 618 is configured to measure the density of each ball received by loading chute 616.

[0149] Each time a ball is transported from carousel throw 610 to throw location 626, impulse mechanism 604 may be adjusted to provide an amount of force corresponding to the desired throw trajectory and the measured density of the ball. For example, more force may be required to throw a ball having a higher density than a ball having a lower density for the same throw trajectory. Thus, the force delivered by impulse mechanism 604 can be adjusted based on individual ball parameters (e.g., density) to achieve consistent execution of the throw trajectory.

[0150] In one embodiment, based on the measured / detected ball parameters, the quality of the ball received by the loading chute 616 may be deemed unacceptable, and the carousel throw 610 may be operated to remove the ball from circulation (or prevent the ball from being transported to the throwing surface 624). In some embodiments, the measured / detected ball parameters may be used to track the exit velocity of the ball and improve the accuracy of calculating the distance of the hit ball.

[0151] In addition to adjusting the amount of force delivered by impulse mechanism 604, the position of impulse mechanism 604 can be adjusted to control the trajectory of a ball thrown from throw location 626. For example, the position of impulse mechanism 604 may be adjusted in at least two dimensions relative to throw location 626 to alter where impulse mechanism 604 impacts the ball.

[0152] As shown in Figures 5A-5D, the impulse mechanism 604 is attached directly to the first adjustment stage 606, which is stacked on top of the second adjustment stage 608, which is stacked on top of a base plate 630 attached to the angled mounting portion 614.

[0153] In some embodiments, the base plate 630 includes one or more linear guides, and the second adjustment stage 608 may move along the linear guides to adjust the position of the first adjustment stage 606 and the impulse mechanism 604 in a first dimension (e.g., the y-axis).

[0154] Similarly, the second adjustment stage 608 may include one or more linear guides, and the first adjustment stage 606 may move along the linear guides to adjust the position of the impulse mechanism 604 in a second dimension (e.g., the x-axis).

[0155] In some embodiments, the throwing device 600 includes one or more adjustment devices (e.g., electromechanical actuators, transducers, servo motors, etc.) configured to control the adjustment of the first and second adjustment stages 606, 608.

[0156] In some embodiments, throwing device 600 may include a third adjustment stage configured to adjust the position of impulse mechanism 604 in a third dimension (e.g., the z-axis). For example, the third adjustment stage may adjust the tilt / inclination of angled mount 614 to further alter the trajectory of a ball thrown from throwing position 626.

[0157] In some embodiments, the throwing device 600 may sit flat on the base plate 630 (i.e., without the angled mount 614), and the third adjustment stage may be configured to provide a desired amount of tilt corresponding to the throw trajectory, ball loading / unloading, etc.

[0158] 5E, movable piston 632 of impulse mechanism 602 includes end effector 634. In one embodiment, end effector 634 is attached to an end of movable piston 632 that is configured to impact a ball held in throwing position 626. In some embodiments, end effector 634 may have a shape or configuration that corresponds to a desired impact response of impulse mechanism 604.

[0159] For example, certain end effector shapes (e.g., spherical) may allow for increased flexibility (e.g., a greater range of adjustment) in positioning the impulse mechanism 604 relative to the throwing location 626. In some embodiments, different end effector shapes may be optimized for different ball types and can be attached / detached as needed.

[0160] 6A-6B illustrate various example pitch trajectories and impulse mechanism locations according to aspects described herein. It should be understood that the locations and trajectories shown are merely example pitches provided to demonstrate the operation of pitching device 600. As shown, the trajectory of example pitch A may correspond to impulse mechanism 604 being positioned directly below the ball at throwing location 626.

[0161] Similarly, the trajectory of example pitch B may correspond to impulse mechanism 604 being positioned slightly off-center relative to throw location 626. Similarly, the trajectory of example pitch C may correspond to impulse mechanism 604 being positioned substantially off-center relative to throw location 626.

[0162] As explained above, the power (or force) delivered by impulse mechanism 604 may also be adjusted to provide the trajectories of example pitches A, B, and C.

[0163] In some embodiments, because the throwing device 600 controls the throw trajectory by adjusting the position of the impulse mechanism 604, the throwing device 600 may require less space to operate. For example, when incorporated into the player compartment layouts of Figures 1A-1G, the gap between the throwing deck 2 and the throwing device 600 may be reduced.

[0164] Additionally, because the throwing device 600 can provide a variety of throwing trajectories without rotating, the throwing device 600 may be directly connected to a ball source (e.g., the ball retrieval and transport system of the throwing system 100). Thus, flexible tubing (e.g., the flexible hose 250) may be optional.

[0165] In some embodiments, the throwing device 600 can be positioned within the player section layout of Figures 1A-1G to minimize the length of the ball return track and the number of switchbacks.

[0166] 4A-5E therefore illustrate components and mechanisms employed in embodiments for controlling the trajectory and frequency of a pitch. Through a software application on a mobile device or computer system, a user of the pitching device 300, 600 can send commands to the pitching device 300, 600 to cause the ball to be pitched to a specific location within or near the strike zone.

[0167] To trigger a pitch, the pitching device 300, 600 may be programmed so that the pitching cycle begins when a player steps on or swings the bat above home plate or an area in the floor designated as home plate. For example, as shown in FIG. 7, a sensor 530 may be disposed below home plate 533.

[0168] In one embodiment, sensor 530 may be an infrared (IR) sensor, and home plate 533 may be IR transparent. Sensor 530 may alternatively be an ultrasonic sensor or any other suitable form of sensor known in the art. In some examples, sensor 530 is configured to communicate with a controller (e.g., controller 346) associated with pitching device 300, 600 such that a pitching cycle begins in response to detecting foot 531 or bat 532 above home plate 533.

[0169] Additionally, the impending pitch may be signaled through light emitted from a lighting system disposed around home plate and / or around the pitching position 323, 526 of the pitching device 300, 600, the lighting system also being designed to be controllable by the controller of the pitching device 300, 600.

[0170] The pitching devices 300, 600, along with the ball retrieval and transport system 200 shown in FIG. 3A, allow the ball to be pitched anywhere within the strike zone or intentionally outside the strike zone, and after being pitched, the ball can be retrieved, stored, and transported.

[0171] 8 illustrates a side view of hopper 32. In the embodiment shown, the hopper passes the ball toward an opening having a bottom edge at height B from the entry of hose 250 and a top edge at height T from the entry of hose 250. The difference TB is at least slightly larger than the diameter of the ball to be collected within hopper 32.

[0172] The balls from the hopper 32 may enter the hose 250, one ball at a time, as described above. On the right side of Figure 8 is shown an example of an agitator (e.g., sweeper) that may be installed at the entrance to the hopper 32 and used to continuously and / or periodically roll balls that may be stuck near the hopper orifice into the orifice, automatically and / or on demand.

[0173] 8 also shows a cabinet 650 containing control and communication circuitry associated with pitching system 100. While such circuitry is shown located underground and in close proximity to pitching system 100, it should be understood that in alternative embodiments, all or part of the control / communication functionality may be implemented by devices located anywhere within the player's area or even outside the player's area.

[0174] Additionally, while certain control and communication operations are described herein as being based on wired connections, it should be understood that such operations may, in alternative embodiments, be based on wireless connections.

[0175] Figures 9-10 illustrate examples of connections (e.g., wiring) involving components of cabinet 650, according to illustrative non-limiting embodiments. In Figures 9-10, dashed lines are used to separate components / functions inside cabinet 650 versus those outside cabinet 650. Additionally, while potential terminals / junctions are indicated in Figures 9-10 using black dots, it should be understood that these locations are by way of example only and are not to be considered limiting.

[0176] 9, a main power supply (PS) may be coupled to a main switch 702, which in turn provides line (L) and neutral (N) power connections to a repeater 703, a 48 volt (V) power supply 704, and a 12V power supply 705. Multiple power supplies may be provided as some functions (e.g., driving and / or controlling motors) may be higher voltage while other functions (e.g., LED lighting control and sensor operation) may be lower voltage.

[0177] The power supplies 704, 705 may be coupled to a printed circuit board (PCB) 710 that performs / controls various functions via hardware, firmware, software (e.g., executed by a controller or processor), or some combination thereof. For example, the PCB 710 may control the initial charging, discharging, and recharging of the capacitor bank 712 via individual resistors 716, 718, and 720.

[0178] The resistors may control the rate at which the capacitor bank 712 initially charges upon system startup (716), the rate at which the capacitor bank 712 discharges upon system shutdown (718), and the rate at which the capacitor bank recharges between throws (720). Different resistor values may limit current flow into and out of the capacitor bank 712.

[0179] The PCB 710 may include an on-board adjustable direct current (DC) converter (not shown) that accepts a 48V DC supply as an input and converts it to a different magnitude (eg, 24V to 48V, such as approximately 28V).

[0180] In the illustrated embodiment, capacitor bank 712 includes three capacitors connected in parallel to provide a high overall capacitance (e.g., approximately 1 Farad (1 F)). In other embodiments, capacitor bank 712 may include a different number of capacitors and / or provide a different amount of overall capacitance.

[0181] The capacitor bank 712 is configured to drive a magnetic field associated with the solenoid 714, which in turn may accelerate a ferromagnetic plunger (or movable piston) toward the ball and impart a throwing force thereto, as described above with reference to the throwing devices 300, 600. Due to the high capacitance of the capacitance bank 712, a large current (e.g., about 120 amps) may be applied to the solenoid 714, albeit for a short duration (e.g., in one embodiment, less than 100 milliseconds (ms), such as about 40 ms).

[0182] In other embodiments, different amounts of current may be applied for different durations to provide various throwing forces. In some embodiments, fuses 720 and power distribution blocks 722, 724 may be included to improve safety during operation and for connection, disconnection, and maintenance tasks.

[0183] In particular embodiments, PCB 710 is configured to regulate the frequency, rate, and magnitude of discharge in capacitor bank 712. In some examples, this may control the magnetic field of solenoid 714 and therefore the initial throwing velocity of the ball struck by the ferromagnetic plunger / piston, as well as when the next ball is thrown.

[0184] The initial throw velocity and throw timing may be controlled in response to wiring / programming and in response to inputs received from external devices, as further described with reference to FIG.

[0185] In addition to power control, PCB 710 may perform communications and motor control. To illustrate, and referring to Figure 10, PCB 710 may be coupled to a roll motor controller 802 and a lift (alternatively referred to herein as "tilt") motor controller 804.

[0186] The roll motor controller 804 may provide signals (e.g., motor control inputs) to a roll motor 806, such as a stepper motor, that rolls the ball thrower (e.g., throwing device 300) about a roll axis. Similarly, the lift motor controller 804 may provide signals (e.g., motor control inputs) to a lift motor 808, such as a stepper motor, that tilts the ball thrower (e.g., throwing device 300) about a tilt axis.

[0187] As used herein, adjusting the "tilt" or "elevation" adjusts the angle of the ball's throw relative to the ground, while adjusting the "roll" adjusts the angle of the ball's throw relative to a vertical direction perpendicular to the ground.

[0188] In other embodiments, PCB 710 is configured to operate one or more motor controllers to control the positioning of an impulse mechanism of a ball thrower (e.g., throwing device 600). For example, PCB 710 may control actuators and / or motors configured to adjust the first and second adjustment stages of throwing device 600.

[0189] In some examples, an open-loop stepper motor is configured to naturally determine its "current" position upon power-up. Thus, in embodiments in which motors 806, 808 are open-loop stepper motors, a home position detection sensor may be used to establish a "home" position for the stepper motor, such as upon power-up.

[0190] For example, PCB 710 may be coupled to a roll origin detection sensor 810 and an elevation origin detection sensor 812. The origin detection sensors 810, 812 may detect physical contact with a portion of the throwing device 300 at one end of a respective axis of motion (e.g., when the throwing device 300 is rolled fully left or right, and when the throwing device 300 is tilted fully up or down).

[0191] Alternatively, the origin detection sensors 810, 812 may be non-contact sensors (e.g., inductive sensors) that detect when the metal of the throwing device 300 is in front of them. The PCB 710 may signal the stepper motors 806, 808 to control the rolling and tilting of the throwing system 100 relative to the detected "home" position.

[0192] In some embodiments, a controller (e.g., an Arduino controller, a microprocessor, etc.) is seated on PCB 710 and executes an application programming interface (API) accessible to external devices. To illustrate, PCB 710 (or the controller) may be coupled to or include a communications interface 814.

[0193] In some cases, communication interface 814 may be a universal serial bus (USB) interface. USB signals provided to PCB 710 (or the controller) may include data that causes modifications to the timing and trajectory of the ball throw, such as via the rolling motor 806, the lift motor 808, and the discharge of capacitor bank 712. Thus, the described techniques may enable control of the timing and trajectory of the ball throw from an external device, such as a device connected via USB (e.g., a separate computer).

[0194] However, it should be understood that wired communication interface 814 is provided merely as an example and is not to be considered limiting. In an alternative embodiment, communication interface 814 includes a wireless communication interface, and the timing / trajectory of the ball throw can be controlled wirelessly over a local network or even the Internet.

[0195] PCB 710 may also control additional functions. In the illustrated embodiment, PCB 710 is coupled via repeater 820 to a direct current (DC) fan 818, a plate sensor 822, a face sensor 824, colored LED lights 826 and 832, and white LED lights 830 and 836. In particular embodiments, the colored and white LED lights may be LED light strips that are individually controllable (e.g., four light controls).

[0196] Fan 818 may be used to cool pitching system 100 (e.g., due to heat generated in solenoid 714) and, in some embodiments, may be triggered based on readings from a thermocouple and / or heat sensor (not shown) in or near solenoid 714. Plate sensor 822 may be configured to detect when a player steps on home plate and / or when a player swings their bat over home plate, signaling that they are ready for pitching system 100 to throw the ball.

[0197] The face sensor 824 may be an infrared, visual, and / or proximity-based sensor placed in or near the hole through which the ball is thrown so that the ball is not thrown if a player, a player's face, etc., is in the line of sight.

[0198] 1, in some embodiments, the perimeter of home plate 4 and the pitching circle (e.g., hole 33) may be equipped with lights. For example, lights 826 and 830 may provide white and multi-color lighting capabilities for the pitching circle, respectively.

[0199] Similarly, lights 836 and 832 may provide white and multi-color lighting capabilities for home plate 4. In the illustrated embodiment, color lights 826 and 832 are connected to PCB 710 via individual dimmers 828 and 834. The illustrated lighting arrangement may enable PCB 710 to provide a variety of light-based signaling within the player area.

[0200] For example, different light colors, light flashing patterns, and / or light dimming patterns may be used to indicate status information, a pitch countdown, an imminent pitch, etc. As another example, when the pitching circle or home plate is blue, the player may be prompted to aim at a target (e.g., blue or other easily noticeable / distinguishable color) shown on screen 12.

[0201] The PCB 710 may, in some cases, be coupled to a disable switch 816. The disable switch 816 may act as a master kill switch that may be used, for example, to quickly shut off some or all functionality within the player section.

[0202] 9 and / or 10 are selected for inclusion based, at least in part, on the use of a solenoid / plunger-based ball thrower, and it should be understood that the solenoid / plunger may drive several other costs within the overall system (e.g., power usage, electronics, electrical components, etc.). If a different throwing mechanism is used, different components may be present.

[0203] For example, if a pneumatic ball throwing mechanism is to be employed, PCB 710 may control the storage and / or release of compressed air (e.g., from a per-throw accumulator from a larger tank that is recharged less frequently) rather than the charge / discharge cycle of capacitor bank 712.

[0204] As another example, if a mechanical ball-throwing mechanism, such as a spring, is used, PCB 710 may control the compression and release of the spring (and may be coupled to sensors that monitor the stress and strain on the spring and determine if / when maintenance may be required). In other examples, the ball-throwing mechanism may be hydraulic.

[0205] FIG. 12 is a schematic diagram illustrating an example of a backstop that may be used to provide a permanent wrap under the screen 12 of a player section, the backstop having a curvature substantially similar to that of the screen 12 (the curved screen 12 may aid in automated ball retrieval, provide an immersive user experience, and provide a more natural feel to the baseball / softball player since the baseball / softball outfield is typically curved as well).

[0206] As shown in Figure 12, the backstop may include various layers. For example, curtain weights such as bent metal stock or chains may be inserted into or wrapped around foam noodles or other flexible coverings and suspended in slings at the bottom of the backstop. The wrapping fabric may be a thick, absorbent material such as 3 / 8-inch thick felt.

[0207] Behind the wrap fabric may be foam padding, angle bars whose curvature matches the curvature of the backstop, and filler material. The backstop may "dampen" (e.g., absorb a large amount of kinetic energy from) balls that hit it, causing them to fall onto collection deck 3 and roll into hopper 32.

[0208] In one embodiment, an angled net can be included to capture and / or direct the balls onto collection deck 3. In some embodiments, the angled net can be used to directly direct the balls into hopper 32.

[0209] Various graphical user interfaces (GUIs) may be displayed by the computing device and / or mobile device associated with the zone. For example, Figure 13A shows an example of a GUI that may be used to determine the area of the strike zone into which each of the next five pitches should be thrown.

[0210] In Figure 13B, the fifth pitch is targeted to the upper right portion of the strike zone, and in Figure 13C, all five pitches are targeted to the lower right portion of the strike zone.

[0211] Although the first and fifth pitches are each shown as being moved to the same portion of the zone, it should be understood that individual pitches may be moved to various portions of the strike zone, left as is, or moved outside the strike zone in any order without affecting the destination of other pitches in the set of five pitches. The number of pitches in a set (i.e., five) is also for illustration only and is not considered limiting.

[0212] In some embodiments, depending on the gameplay / training difficulty selected by the user, only certain pitches may be movable, and icons for non-movable pitches may be "grayed out" and / or unselectable. To illustrate, in a low difficulty mode, all five pitches may be non-movable.

[0213] In a medium difficulty mode, only the fourth and fifth pitches (i.e., the last two pitches) may be movable, while the first three pitches are locked to be strikes in the center. In a high difficulty mode, all pitches may be movable. In an illustrative aspect, there may be a bonus score factor (e.g., a multiplier) applied to the result of a movable pitch or a pitch that is actually moved from the center of the strike zone.

[0214] Once the set of five pitches has been delivered, the five pitch icon may "snap back" to the center of the strike zone for the next batter (e.g., FIG. 13B or FIG. 13C may eventually return to FIG. 13A). FIGs. 13A, 13B, and 13C thus represent separate sequences of "frames" of various animated GUIs according to the present disclosure.

[0215] In some embodiments, the pitch location GUI of FIGS. 13A - 13C enables a user (who may or may not be a batter) to select a point (or area) where the ball intersects a vertical plane that coincides with the front of home plate 4. In other alternative embodiments, the pitch location GUI of FIGS. 13A - 13C enables a user to select a point (or area) inside or outside the strike zone where the ball will be at some point during its flight, not necessarily when the vertical plane coincides with the front of home plate 4.

[0216] In certain embodiments, in response to a user dragging a pitch to a different location on the screen of a computing device, the computing device converts the location to a rolling motor control input, a lifting motor control input, and / or a throwing speed control input, and such control inputs are communicated to the PCB 710.

[0217] In an alternative embodiment, the desired location of the pitch (as selected by the user on the screen) is communicated to the PCB 710 (or a controller thereon), and the location is converted to a rolling motor control input, a lifting motor control input, and / or a throwing speed control input.

[0218] Referring to FIG. 14, a method of operation 1200 according to the present disclosure is shown. Method 1200 includes adjusting the roll and tilt of a ball thrower or pitching machine until individual roll and tilt origin detection sensors are activated at 1201. For example, in response to powering on the pitching system 100 or resetting a signal, the roll of the pitching system 100 may be adjusted clockwise or counterclockwise until the roll origin detection sensor 810 is activated.

[0219] In some aspects, rolling origin detection sensor 810 is an inductance-based sensor that detects when a portion of pitching system 100 is in proximity to or in contact with rolling origin detection sensor 810. Similarly, the tilt of pitching system 100 may be adjusted up or down until elevation origin detection sensor 812 is activated. In some aspects, elevation origin detection sensor 812 is an inductance-based sensor that detects when a portion of pitching system 100 is in proximity to or in contact with elevation origin detection sensor 812.

[0220] Method 1200 also includes receiving 1202 an input indicating a desired pitch location. For example, such input may be received via a GUI or via communication interface 814, as described with reference to FIGS.

[0221] Method 1200 further includes, at 1203, performing at least one of a rolling motor adjustment, a tilt motor adjustment, or a throwing velocity adjustment based on the input. For example, rolling motor control 802 may signal rolling motor 806 to roll a component of pitching system 100 about a first axis of motion.

[0222] As another example, elevator motor control 804 may signal elevator motor 808 to tilt a component of throwing system 100 about a second axis of motion. As yet another example, PCB 710 may adjust the initial throw velocity by controlling the charging voltage of capacitor bank 712, the coil on time, and / or a PWM signal input to a switch to apply current to a coil (e.g., solenoid 714) at a variable duty cycle.

[0223] Method 1200 includes, at 1204, discharging a capacitor to drive a magnetic field associated with a solenoid and, in response to the magnetic field, imparting a throwing force to the ball based on an acceleration of a ferromagnetic plunger toward the ball. For example, capacitor bank 712 may be discharged to drive a magnetic field associated with solenoid 714.

[0224] Method 1200 also includes, at 1205, automatically recharging the capacitors, collecting the thrown balls, and returning the balls to the throwing machine via a hopper. For example, PCB 710 may automatically recharge capacitor bank 712. As another example, a hit ball may hit a screen and / or a backstop (e.g., the backstop in FIG. 12 ) and roll into hopper 32 due to the downward tilt of collection deck 3.

[0225] Balls that are mishit by a player may also roll into the hopper due to the downward tilt of the pitching deck 2. The hopper 32 may provide balls to the pitching device 300 via, for example, a single-file ball delivery arrangement, as described above.

[0226] Method 1200 further includes determining whether the next pitch should be thrown at the same location or at two different locations, at 1206. If the next pitch will be thrown at a different location, method 1200 returns to 1203 to adjust the roll, tilt, and / or throw speed. If the next pitch will be thrown at the same location as the previous pitch, method 1200 returns to 1204 to first discharge the capacitor without adjusting the roll / tilt / throw speed.

[0227] Certain embodiments have been described herein with reference to an "underground" pitching machine. Note that "ground" in this context does not necessarily mean ground level. Rather, "ground" refers to the level at which the batter is positioned (e.g., the elevation of home plate) or the level of a deck (e.g., recovery deck 3 or pitching deck 2) that includes a hole (e.g., hole 33) through which the ball enters the hitting area (and potentially the batter's field of view).

[0228] It should be understood that locating the pitching machine "underground" can help facilitate automated ball retrieval, for example, by using an inclined deck as described with reference to Figure 1. Thus, when an embodiment is described as having a ball traveling upward through a "hole in the ground," it should be understood that this means that the ball travels through a hole that is approximately at the same elevation as the batter's feet (e.g., home plate), although both the pitching machine and the hole in the ground can be above the actual geographic ground level.

[0229] In alternative embodiments, the ball thrower or throwing machine may not be located "underground." Rather, in accordance with the present disclosure, the ball thrower or throwing machine may be installed "on-ground," i.e., at the same elevation as the batter's feet (e.g., home plate). In such embodiments, the throwing machine may have protection mechanisms to protect components from being struck by batted balls. Automated ball retrieval may be absent or may be modified compared to the automated ball retrieval mechanisms described herein.

[0230] 15A-15C include flowchart diagrams illustrating various control processes according to aspects described herein. For example, FIG. 15A illustrates an activation process 1502 corresponding to activating a player partition. As shown, a user may interact with a kiosk (or another device) to enable and configure the player partition.

[0231] In one embodiment, based on user interaction, at least one controller of the system is configured to activate and configure the ball tracking system, the robot (i.e., throwing device 300, 600), the server or computer system, the projection system, and the scoreboard. The activation process 1502 may also include an error handling sequence (e.g., failure to activate equipment in a player's section).

[0232] 15B illustrates a gameplay process 1504 corresponding to the operation of a player section. For example, once a player section is activated, a user may set various gameplay parameters such as game mode, skill level, stadium preferences, etc.

[0233] After the gameplay parameters are selected, at least one controller of the system is configured to initialize the system equipment (i.e., the projection system, pitching device 300, 600, etc.) based on the selected gameplay parameters. Once the system equipment is initialized, process 1504 may initiate a first pitching cycle based on a user signal (e.g., swinging the bat over home plate).

[0234] 15C illustrates a pitch cycle process 1506, which corresponds to a pitch cycle during operation of a player section. As shown, a batter may be detected by home plate, and at least one controller of the system may activate a ball tracking system and operate the robot (i.e., pitching device 300, 600) to prepare to deliver a pitch based on desired pitch parameters (e.g., trajectory).

[0235] In one embodiment, process 1506 may include a throw timer to control the throw frequency of a throw cycle. For example, the throw timer may be reset each time a grasshopper is detected, and the throwing device 300, 600 may throw a ball each time the throw timer expires. As shown, throw cycle process 1506 may include other functions, such as an impact timer, that correspond to whether the ball was hit or missed by a grasshopper.

[0236] In some examples, pitch cycle process 1506 is configured to receive pitch parameters from an external device. For example, while a first user (i.e., a batter) is playing, a second user (i.e., a pitcher) may use an external device (e.g., a cell phone) or kiosk to control the pitch parameters of the pitch cycle.

[0237] 16A-16D illustrate alternative layouts for one or more player compartments, including a "mobile" layout (e.g., on a vehicle), a generally rectangular layout, a generally diamond-shaped layout, etc. Additionally, although not illustrated in FIGS. 16A-16D, in some embodiments, compartments may also be stacked vertically.

[0238] It should be understood that the order of steps or operations described with reference to the foregoing figures is to be considered illustrative, not limiting. In alternative embodiments, the order of steps may differ. Furthermore, one or more steps may be optional and / or substituted by other steps. In addition, one or more steps may be consolidated.

[0239] According to various embodiments of the present disclosure, one or more of the methods, functions, and modules described herein may be implemented by a software program executable by a computer system. Further, implementations may include distributed processing, component / object distributed processing, and / or parallel processing.

[0240] Particular implementations can be implemented using a computer system executing a set of instructions that cause the computer system to perform any one or more of the methods or computer-based functions disclosed herein. The computer system may include a laptop computer, a desktop computer, a server computer, a mobile phone, a tablet computer, a set-top box, a media player, one or more other computing devices, or any combination thereof.

[0241] The computer system may be connected to other computer systems or peripheral devices, for example, using a network. For example, the computer system or components thereof may include or be included within any one or more of the computing components described herein with reference to the figures.

[0242] In a networked deployment, the computer system may operate in the capacity of a server, or as a client user computer in a server-client user network environment, or as a peer computer system in a peer-to-peer (or distributed) network environment. The term "system" may include any collection of systems or subsystems that, individually or together, execute a set or sets of instructions and perform one or more computer functions.

[0243] In particular implementations, the instructions may be embodied in a non-transitory computer-readable or processor-readable medium. The terms "computer-readable medium" and "processor-readable medium" include a single medium or multiple media, such as a centralized or distributed database and / or associated caches and servers that store one or more sets of instructions.

[0244] The terms "computer-readable medium" and "processor-readable medium" also include any medium capable of storing a set of instructions for execution by a processor or causing a computer system to perform any one or more of the methods or operations disclosed herein.

[0245] For example, a computer-readable or processor-readable medium or storage device may include random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, a hard disk, a removable disk, disk-based memory (e.g., compact disk read-only memory (CD-ROM)), or any other form of storage medium or device.

[0246] Certain aspects and embodiments are directed to providing a system for throwing, retrieving, and transporting a ball. Particular aspects are directed to a system that allows for convenient use of a stand-alone throwing machine to throw a ball with the ability to control the trajectory of the ball.

[0247] The aspects disclosed herein may be designed so that they can be used in hitting areas, which may include indoor or outdoor hitting areas where players can practice hitting against hitting screens or into open fields. The aspects disclosed herein may also be designed for use on fields and in youth games and practice sessions.

[0248] According to one implementation of the techniques described herein, a system includes a storage area configured to store a ball. The system also includes an underground thrower configured to impart a throwing force to a ball received from the storage area. The throwing force corresponds to a throwing direction and a throwing velocity of the ball, and the throwing force propels the ball upward through a hole in the ground.

[0249] According to another implementation of the techniques described herein, a system includes a storage area configured to store a ball. The system also includes a thrower configured to impart a throwing force to a ball received from the storage area. The throwing force corresponds to a throwing direction and a throwing velocity of the ball.

[0250] According to another implementation of the techniques described herein, the hitting area includes a hopper configured to provide a ball to the ball thrower, the ball rolling into the hopper. The hitting area also includes a batter's box area that is generally flat. The hitting area further includes a screen and a pitching circle positioned between the batter's box area and the screen. The ball is thrown upward through the pitching circle toward the strike zone.

[0251] The hitting area includes a pitching deck at least partially surrounding the batter's box area and having a first downward slope toward the screen. The hitting area also includes a collection deck disposed between the hopper and the screen, and finally, a portion of the collection deck having a second downward slope toward the hopper.

[0252] Having thus described several aspects of at least one embodiment of this invention, it should be understood that various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be part of this disclosure, and are intended to be within the spirit and scope of the invention. Accordingly, the foregoing description and drawings are by way of example only.

Claims

1. 1. A pitching device comprising: a throwing surface for receiving a ball, the throwing surface configured to receive the ball and hold it in a throwing position prior to the ball being thrown; 1. A throwing system, comprising: an impulse mechanism including an end effector, the impulse mechanism configured to impact the ball at the throwing location via the end effector; at least one mechanical system configured to adjust the position of the impulse mechanism; a throwing system including: one or more control components configured to control the trajectory of the ball thrown from the throwing location; Equipped with the throwing location includes a circular opening defined in the throwing surface, the opening having a diameter smaller than a diameter of the ball, and at least a portion of the end effector of the impulse mechanism is configured to move into or through the circular opening to impact the ball at the throwing location through the circular opening; A throwing device configured such that the position of the impulse mechanism is adjustable relative to the throwing position to control the throwing trajectory by adjusting the contact position at which the end effector impacts the ball.

2. The pitching device of claim 1 , wherein the portion of the end effector has a spherical shape.

3. 3. The pitching device of claim 2, wherein the at least one mechanical system includes a first mechanical system configured to adjust a position of the impulse mechanism in a first dimension and a second mechanical system configured to adjust a position of the impulse mechanism in a second dimension.

4. The pitching device of claim 3 , wherein the first and second dimensions correspond to dimensions of an xy plane.

5. 4. The pitching device of claim 3, wherein the one or more control components are further configured to control at least one of the first and second mechanical systems to adjust the position of the impulse mechanism and the pitch trajectory.

6. The throwing device of claim 5 , further comprising an angled mounting portion on which the throwing surface and the throwing system are disposed.

7. 7. The pitching device of claim 6, further comprising a third mechanical system configured to adjust the amount of tilt provided by the angled mount, wherein the one or more control components are further configured to control the third mechanical system to adjust the amount of tilt provided by the angled mount and the pitch trajectory.

8. The throwing device of claim 1 , further comprising a casing on which the throwing surface is disposed.

9. 9. The pitching device of claim 8, further comprising a first mechanical system configured to tilt the casing about a first axis and a second mechanical system configured to roll the casing about a second axis.

10. The pitching device of claim 9 , wherein the one or more control components are further configured to control at least one of the first and second mechanical systems to adjust the pitch trajectory.

11. 2. The throwing device of claim 1, wherein the impulse mechanism includes a pneumatic cylinder positioned below the throwing location and at least one movable piston, the pneumatic cylinder configured to accelerate the at least one movable piston toward the throwing location.

12. The pitching device of claim 11 , wherein the one or more control components are further configured to adjust the amount of pressure in the pneumatic cylinder to control the pitch trajectory.

13. 2. The throwing device of claim 1, wherein the impulse mechanism includes an electromagnetic solenoid positioned below the throwing location and at least one movable piston, the at least one movable piston being a ferromagnetic piston, and the solenoid configured to accelerate the at least one movable piston toward the throwing location.

14. 14. The throwing device of claim 13, wherein the throwing system further includes a power source configured to apply an electric current to the electromagnetic solenoid, and the one or more control components are configured to control the force delivered by the impulse mechanism upon impact with the ball by adjusting the amount of electric current applied to the electromagnetic solenoid.

15. 15. The pitching device of claim 14, wherein the power source includes one or more capacitors selectively coupled to the electromagnetic solenoid to apply the current to the electromagnetic solenoid, and the one or more control components are configured to adjust a charging voltage applied to the one or more capacitors and to adjust the amount of the current applied to the electromagnetic solenoid by the one or more capacitors.

16. 2. The pitching device of claim 1, wherein controlling the pitching trajectory of the ball includes imparting spin to the ball by controlling the position of the impulse mechanism, and controlling the position of the impulse mechanism causes the end effector to strike the ball off-center relative to the pitching position.

17. The throwing device of claim 1 , wherein the throwing surface is configured to receive a series of balls via a ball handling mechanism connected to the throwing device.

18. 18. The throwing device of claim 17, wherein the ball handling mechanism includes a carousel system configured to rotate about a bearing, receive the series of balls, and present each ball in the series to the throwing surface one ball at a time.

19. The pitching device of claim 17 , wherein the one or more control components are further configured to operate the ball handling mechanism and control the pitching frequency of the pitching device.

20. The throwing device of claim 1 , wherein the one or more control components are further configured to communicate with an external device, the external device configured to control the throwing device.

21. 1. A method of controlling a pitching device, the method comprising: Receiving a ball on a throwing surface, the throwing surface configured to hold the ball in a throwing position prior to the ball being thrown; determining a desired throwing trajectory for the ball held at the throwing position; adjusting a position of an impulse mechanism disposed below the throwing location in at least two dimensions based on the desired throwing trajectory, the impulse mechanism including an end effector; impacting the ball held at the throwing location via the end effector and throwing the ball from the throwing location with an amount of force based on the desired throwing trajectory, the throwing location including a circular opening defined within the throwing surface, the opening having a diameter less than a diameter of the ball; Including, impacting the ball held at the throwing position via the end effector includes impacting the ball at the throwing position via the circular opening by moving at least a portion of the end effector into or through the circular opening; The method is configured such that the position of the impulse mechanism is adjustable relative to the throwing position to control the trajectory by adjusting the contact position where the end effector impacts the ball.

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