Traveling collector

Patent metadata

Field	Value
Publication number	US-11998808-B2
Application number	US-202117374170-A
Country	US
Kind code	B2
Filing date	Jul 13, 2021
Priority date	Jul 13, 2020
Publication date	Jun 4, 2024
Grant date	Jun 4, 2024

Abstract

To provide a highly reliable, cost-effective traveling collector that can determine the positions of fallen objects, such as balls, on the ground using a simple method, or determine the correct positions of fallen objects, such as balls, on the ground only by improving software and without the need for significant changes to hardware. The traveling collector includes a count sensor as a sensor for detecting the position of each collected ball at a position detected by a satellite positioning system, for example. A controller determines a position, which is obtained by reflecting, based on the positional information on the ball collector at a time point when the ball was counted by touching the count sensor, the movement distance of the ball collector from the time each ball was picked up from the ground by a ball collection wheel till the ball was counted by touching the count sensor in a direction opposite to the traveling direction of the ball collector at that time, as the actual position where each ball was picked up.

First claim

What is claimed is:

1. A traveling collector for picking up and collecting fallen objects scattered on a surface while traveling on the surface, comprising:
a collection member adapted to pick up fallen objects from the surface;
a controller configured to perform traveling control of the traveling collector on the surface, and acquire information on a position of the traveling collector detected by a positioning system; and
a sensor for detecting that each fallen object picked up by the collection member has been collected, at the position detected by the positioning system, wherein the controller is configured to:
determine an actual position where each fallen object was picked up using a movement distance of the traveling collector from a time the fallen object was picked up from the surface by the collection member till the fallen object was detected by the sensor, or using a length of time taken for the fallen object to be detected by the sensor after having been picked up from the surface by the collection member; and
store information on the determined actual position.

2. The traveling collector according to claim 1 , wherein the controller is configured to determine a position that is obtained by reflecting, based on the information on the position of the traveling collector at a time point when the fallen object was detected by the sensor, the movement distance of the traveling collector from the time the fallen object was picked up from the surface by the collection member till the fallen object was detected by the sensor in a direction opposite to a traveling direction of the traveling collector at that time, as the actual position where each fallen object was picked up.

3. The traveling collector according to claim 1 , wherein the controller is configured to determine a position of the traveling collector at a time point earlier than a time point when the fallen object was detected by the sensor by the length of time taken for the fallen object to be detected by the sensor after having been picked up from the surface by the collection member, as the actual position where each fallen object was picked up, based on the information on the position of the traveling collector.

4. The traveling collector according to claim 3 , wherein the controller is configured to determine the length of time by dividing the movement distance of the traveling collector from the time the fallen object was picked up from the surface by the collection member till the fallen object was detected by the sensor by a traveling speed of the traveling collector at that time.

5. The traveling collector according to claim 1 , wherein:
the sensor is a contact-type sensor configured to detect a fallen object picked up by the collection member when the fallen object has touched the sensor, and
the controller is configured to determine an actual position where the fallen object was picked up using a movement distance of the traveling collector from a time the fallen object was picked up from the surface by the collection member till the fallen object touched the sensor, or using a length of time taken for the fallen object to touch the sensor after having been picked up from the surface by the collection member.

6. The traveling collector according to claim 1 , wherein the controller is configured to send to a management server for the traveling collector information on the actual position where the fallen object was picked up.

7. The traveling collector according to claim 1 , wherein the controller is configured to acquire the information on the position of the traveling collector by receiving a positioning signal from a satellite of a satellite positioning system.

8. The traveling collector according to claim 1 , wherein the collection member is adapted to pick up fallen objects from a surface by rolling on the surface as the traveling collector travels on the surface.

9. The traveling collector according to claim 8 , wherein:
the collection member has multiple elongated grooves including a number of annular grooves on an outer circumference of the collection member,
each annular groove has a number of pockets formed along a circumferential direction for picking up fallen objects on a surface, and
the pockets of the adjacent annular grooves are provided such that the pockets are displaced from each other by a predetermined angle in the circumferential direction.

10. The traveling collector according to claim 9 , wherein the sensor includes a single sensor disposed across all of the annular grooves.

11. The traveling collector according to claim 9 , further comprising a pectinate releasing member arranged in a manner protruding into each of the annular grooves so as to release fallen objects picked up by the collection member from the collection member, wherein the sensor is disposed on the releasing member.

12. The traveling collector according to claim 1 , wherein the sensor is a count sensor for counting fallen objects picked up by the collection member.

13. A traveling collector for picking up and collecting balls scattered on a surface while traveling along a traveling path set on the surface in accordance with a predetermined program, comprising:
a ball collection wheel adapted to pick up balls from the surface by rolling on the surface;
a sensor for detecting that each ball picked up by the ball collection wheel has been collected; and
a controller configured to perform traveling control of the traveling collector on the surface, and acquire information on a position of the traveling collector detected by a positioning system, wherein:
the controller is configured to:
determine an actual position where each ball was picked up using a movement distance of the traveling collector from a time the ball was picked up from the surface by the ball collection wheel till the ball was detected by the sensor, or using a length of time taken for the ball to be detected by the sensor after having been picked up from the surface by the ball collection wheel, and
store information on the determined actual position on each ball.

Assignees

• Yamabiko Corp

Inventors

• Yamada Ryota
• Nakano Kenji

Classifications

• A63B47/021 Primary

  for picking-up automatically, e.g. by apparatus moving over the playing surface · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title

• A63B2047/022

  Autonomous machines which find their own way around the playing surface · CPC title

• A63B2102/32

  Golf · CPC title

• A63B2220/17

  Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed · CPC title