Patent Application
20230142296
The present invention relates to a scattered object collection system including an autonomous collector for picking up and collecting objects that have fallen and scattered on the ground (i.e., scattered objects), such as golf balls, tennis balls, nuts, and containers, for example, while traveling on the ground. Particularly, the present invention relates to a scattered object collection system configured to efficiently collect scattered objects using positional information.
For example, there is known an autonomous (also referred to as “self-propelled”) ball collector, also called a ball picker and the like, that collects a number of golf balls scattered on the ground of a golf driving range, for example, while traveling on the ground as described in Patent Literature 1 and 2.
Such a ball collector typically includes, as described in Patent Literature 1 and 2, a ball collection wheel that picks up balls from the ground by rolling on the ground, and a collection tank that receives and stores the balls picked up by the ball collection wheel.
As the ball collector, a motor-driven ball collector, a traction type ball collector, and a hand push ball collector are widely used. As the ball collection wheel, the one described in Patent Literature 3 is known that includes a predetermined number of discs forming multiple elongated grooves including a number of annular grooves, each annular groove having a number of ball pockets formed therein at equal angular intervals along the circumferential direction for picking up balls on the ground.
The conventional scattered object collection system using the above-described autonomous ball collector performs a ball collecting operation while traveling all over a work area (i.e., an area where a ball may be on the ground) irrespective of whether there is actually a ball, and thus has a low efficiency in the ball collecting operation due to a number of unnecessary traveling of the ball collector.
With a low efficiency in the ball collecting operation, balls may not often be supplied (i.e., collected) promptly to meet customer demands for balls in a hitting bay, and to avoid this, the number of balls in stock needs to be increased, for example. This is not cost efficient and may increase the number of times of charging due to a high battery consumption (power consumption) relative to the number of collected balls, whereby the energy cost may increase and the operation efficiency may be even lower.
Thus, nowadays, to efficiently perform the ball collecting operation, grasping the correct scattering (i.e., distribution) state of balls, the correct dense areas of balls, and the like is considered. For example, as described in Patent Literature 4, there is known a technique of collecting ball density distribution information before starting a ball collecting operation, and performing a ball collecting operation starting with an area with a high ball distribution rate (i.e., density) while detecting the position of the ball collector in a work area using a global positioning system (GPS).
However, with the technique described in Patent Literature 4, the ball density distribution information is created by observing a pattern (i.e., a distribution state) of balls in the work area for a given period of time using a visual sensor, such as a camera, for monitoring the condition of the work area and another sensor for monitoring the number of balls collected in a designated range, for example. Thus, it would be impossible to acquire the correct actual position where each ball was picked up (i.e., the actual positional information on each ball) that is necessary for creating the ball density distribution information. In addition, although the position of the ball collector in the work area can be detected using a GPS and the like, a specific means of grasping the actual positional information on each ball using a GPS and the like is unknown.
In addition, in relation to identifying a position of a ball, Patent Literature 5 describes a vehicle type ball collector configured to use an ID tag embedded in a ball and identify a position of a ball using the ID tag embedded ball and a GPS, and then collect balls. However, a ball collection system using the ID tag embedded balls tends to be extremely expensive and is not for a practical use because it is not cost effective.
The present invention has been made in view of the foregoing, and provides a highly reliable, cost-effective scattered object collection system that can efficiently collect scattered objects by reducing unnecessary traveling of the autonomous collector using positional information.
In view of the foregoing, a scattered object collection system according to the present invention basically includes an autonomous collector that performs a collecting operation by picking up scattered objects scattered in a work area while traveling in the work area and a collector management unit that manages the autonomous collector, in which the collector management unit acquires positional information on the autonomous collector, identifies an actual position where each scattered object was picked up in the work area using the acquired positional information, and allows the autonomous collector to perform a collecting operation in a place having a high density of scattered objects with higher priority than a place having a low density of scattered objects using the identified actual positional information on each scattered object.
In one aspect, the autonomous collector may include a sensor for detecting that scattered objects are present on a ground in the work area and acquiring positional information on the scattered objects.
In another aspect, the autonomous collector may include a sensor for sequentially detecting that each scattered object has been picked up and collected and acquiring collection information, and the collector management unit may use the acquired collection information in identifying an actual position where each scattered object was picked up.
In still another aspect, the collector management unit may acquire a distribution state of scattered objects in the work area using the actual positional information on each scattered object, and create a scattered object density distribution map including a plurality of dense areas having different densities of scattered objects based on the acquired distribution state.
Since the scattered object collection system according to the present invention can determine the correct position of each scattered object on the ground, such as a ball, by using positional information and allows the autonomous collector to perform a collecting operation in a place having a high density of scattered objects with higher priority than a place having a low density of scattered objects, and thus can efficiently collect scattered objects by reducing unnecessary traveling of the autonomous collector. Therefore, it is possible to provide a highly reliable, cost-effective scattered object collection system.
Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
A ball collector 1 illustrated in
The ball collector 1 includes a traveling body 6 as a body movable on the ground, a ball collection wheel 5, a ball releasing member (also referred to as a squeezer) 7, a collection tank 8, and a body cover (not illustrated) that covers them.
The traveling body 6 includes a frame 9, a pair of right and left drive wheels 10 disposed on the rear of the frame 9, drive motors 15 that drive the drive wheels 10, a battery 14 as a power supply for the drive motors 15 and the like, a pair of right and left steering wheels 12 disposed on the front of the frame 9, and a steering adjustment unit 13 that controls the steering wheels 12, for example. As the drive wheels 10 are rotationally driven by the drive motors 15, the traveling body 6 moves and is automatically controlled in accordance with a predetermined program, whereby the traveling direction or the like of the traveling body 6 is automatically changed so that the traveling body 6 can travel across the entire area necessary for collecting balls.
A signal receiving unit 44 having an antenna for receiving a signal from a satellite positioning system, such as a GPS, to acquire positional information is provided above the drive motors 15, the battery 14, and the like and below the body cover (not illustrated). A controller 50 (described in detail later) that performs traveling control and the like is provided adjacent to the signal receiving unit 44. The controller 50 is functionally provided with, for example, a positional information acquisition unit 54 (
The ball collection wheel 5 is disposed between the pair of steering wheels 12 and the pair of drive wheels 10 in the front-rear direction of the ball collector 1. The ball collection wheel 5 is rotatable about the axis X extending in the right-left direction of the traveling body 6, and is supported by the frame 9 such that the outer peripheral face of the ball collection wheel 5 is always in contact with the ground G under its own weight. The ball collection wheel 5 collects a number of balls B scattered on the ground G while rolling on the ground G as the traveling body 6 moves forward.
As illustrated in
The ball collection wheel 5 is formed by an aggregate of a number of discs 19 with an identical configuration, and the annular grooves 17 are formed at equal intervals between the adjacent discs 19. Each disc 19 has on one face a plurality of attachment shaft portions 21 each having a spacer 20, and has on the other face shaft portion receiving holes (not illustrated) for receiving the attachment shaft portions 21. The attachment shaft portions 21 and the shaft portion receiving holes of the adjacent discs 19 are coupled together so that a number of discs 19 are integrated at equal intervals. The annular grooves 17 are formed by the spacers 20 between the adjacent discs 19. Each disc 19 has formed at its center a boss portion 23 for receiving a support shaft 22 (see
As can be seen in
The lower face of the proximal portion 25 of the ball releasing member 7 has a contact-type count sensor 27, which counts the number of balls B released from the ball pockets 18 by the ball releasing protrusions 26, fixed thereto by a method such as bonding. The count sensor 27 is composed of a single elongated plate-like pressure sensor using a piezoelectric element, and extends in the right-left direction along the proximal portion 25 of the ball releasing member 7 so as to straddle each of (all) the annular grooves 17 and it has a length corresponding to the length of the ball collection wheel 5 in the axial direction. The count sensor 27 is disposed on the trajectories of balls B that are guided in the radiation direction of the ball collection wheel 5 (or the discs 19 thereof) by the ball releasing protrusions 26 of the ball releasing member 7, and elongated partitioning protrusions 31 which are formed in the radiation direction on both side of each disc 19 and partition each annular groove 17 at equal angular intervals in the circumferential direction so as to define the ball pockets 18. Therefore, the balls B released from the ball collection wheel 5 by the ball releasing member 7 surely touch the count sensor 27. Accordingly, the balls B are accurately counted by the count sensor 27. The count sensor 27 may be a non-contact-type counter sensor.
Although the count sensor 27 in the present embodiment is composed of a single pressure sensor disposed straddle each of (all) the annular grooves 17, the count sensor 27 may include individual (a plurality of) pressure sensors disposed corresponding to the respective annular grooves 17. In addition, the count sensor 27 may be disposed at a portion other than the ball releasing member 7.
The collection tank 8, which includes a bottom plate 8a, side plates 8b, and a front plate 8d, for example, is disposed behind the ball releasing member 7. The side plates 8b of the collection tank 8 are supported by the frame 9 of the traveling body 6, and accommodate balls B that are released from the ball collection wheel 5 by the ball releasing member 7. The bottom plate 8a of the collection tank 8 is attached in a manner translatable in the vertical direction. When the bottom plate 8a is moved to a ball discharge position at a lower level, a gap is produced between the bottom plate 8a of the collection tank 8 and a back plate 28 so that balls B are discharged through the gap. In addition, a full tank detector (not illustrated) for detecting that the collection tank 8 is full of a plurality of collected balls B is provided (swingably) on the collection tank 8.
With such a configuration, as illustrated in
It should be noted that the ball collector 1 is provided with a mechanism (not illustrated) for supporting the ball collection wheel 5 while elevating it from the ground. When the aforementioned ball collecting operation is not performed, such as when the collection tank 8 has become full and returns to a predetermined storage space 66 or during a change in the direction, such as a U-turn, for example, the ball collection wheel 5 is elevated from the ground.
In addition to the aforementioned configuration, in the scattered object collection system of the present embodiment, as illustrated in
The controller 50 includes a CPU, an input/output circuit, and a storage unit (e.g., ROM, RAM, nonvolatile memory, HDD, and SSD). The storage unit stores programs and various data. By executing a predetermined program stored in the storage unit, the controller 50 functions as a desired functional processor for controlling autonomous travel or acquiring positional information, for example.
The ball collector 1 (i.e., the controller 50) and the management server 70 are provided with a transmission/reception unit (not illustrated) for connecting them to each other via a wireless network (e.g., a wireless LAN).
In the scattered object collection system of the present embodiment, the ball collector 1 is configured to pick up balls on the ground with the ball collection wheel 5 and collect them into the collection tank 8 while performing pattern traveling (
Herein, it is a primary object of the present embodiment to improve the efficiency in the ball collecting operation, and the following schematic configuration is employed to achieve the primary object. That is, the scattered object collection system identifies an actual position where each ball was picked up in the work area W using a signal received by the signal receiving unit 44 and a detection signal obtained by the count sensor 27, acquires a distribution state of balls in the work area W using the identified actual positional information on each ball, creates a ball density distribution map including a plurality of dense areas having different ball densities based on the acquired distribution state of balls, and allows the ball collector 1 to travel to perform a collecting operation in a place having a high density of balls with higher priority than a place having a low density of balls, more specifically, such that the place having a high density of balls has a higher travel ratio (e.g., travel time or travel distance) of the ball collector 1 than that of the place having a low density of balls, using the created ball density distribution map.
It should be noted that, in addition to the primary object, to increase the control accuracy, the scattered object collection system of the present embodiment is configured to correct the positional information on the ball collector 1 at a time point when a ball was counted by touching the count sensor 27, and thus acquire the actual position where the ball was picked up (i.e., the actual positional information on the ball).
This will be briefly described with reference to
The scattered object collection system of the present embodiment having such a schematic configuration will be described in detail below.
In the present embodiment, the scattered object collection system includes the collector management unit 80 including the controller 50, the management server 70, and the like to manage the ball collector 1. The controller 50, as illustrated in a functional block of
The timer unit 51 starts timing when the controller 50 is powered ON (i.e., started), continuously measures the elapsed time while the controller 50 is ON, and terminates the timing when the controller 50 is powered OFF. The measurement unit of the timer unit 51 is 10 μs, for example. The elapsed time from when the controller 50 is started, corresponding to the “time,” can be obtained from the timer unit 51 in units of one hundred-thousandth of a second.
The rotational speed calculation unit 52 calculates the rotational speed of the ball collection wheel 5 (or its equivalent traveling speed of the ball collector 1) based on a signal from a disc number-of-revolutions sensor 43 that detects the rotational speed of the discs 19, and sends the calculated rotational speed (or the traveling speed) to the to-be-corrected information acquisition unit 56.
The ball counting unit 53 determines if a signal from the count sensor (i.e., the pressure sensor) 27 has exceeded a predetermined threshold, and if so, determines that balls have been collected and thus counts the number of the collected balls, and then sends to the to-be-corrected information acquisition unit 56 information that the balls have been counted as well as the time point when the signal has exceeded the threshold. Furthermore, when a ball count (e.g., the number of balls counted) has reached a given number (i.e., when the collection tank is estimated to have become full) during the ball collecting operation, the ball counting unit 53 sends to the traveling control unit 60 information indicating so. It should be noted that the ball counting unit 53 sends also to the management server 70 the ball count (e.g., the number of balls counted) and information that the collection tank is full of collected balls, for example.
The positional information acquisition unit 54 acquires the positional information on the ball collector 1 at predetermined time intervals (e.g., every one-hundredth of a second) based on a signal received by the signal receiving unit 44, and sends the acquired positional information to the to-be-corrected information acquisition unit 56.
The to-be-corrected information acquisition unit 56 acquires information for correcting the positional information on the ball collector 1 at a time point when balls were counted by touching the count sensor 27, in order to determine the actual position where the balls were picked up. As the information for correcting the positional information on the ball collector 1, the following are used, for example: the movement distance La of the ball collector 1 from the time each ball was picked up from the ground by the ball collection wheel 5 till the ball was counted by touching the count sensor 27; the length of time Ja taken for each ball to be counted by touching the count sensor 27 after having been picked up from the ground by the ball collection wheel 5; positional information acquired from the positional information acquisition unit 54; the traveling direction of the ball collector 1; and the traveling speed of the ball collector 1 or the rotational speed of the ball collection wheel 5.
The ball position identification unit 57 corrects the positional information on the ball collector 1 at a time point when balls were counted by touching the count sensor 27, using the information acquired by the to-be-corrected information acquisition unit 56, thereby acquiring the actual position where the balls were picked up (i.e., the actual positional information on the balls).
Specifically, the actual position where each ball was picked up is determined using the movement distance La of the ball collector 1 from the time each ball was picked up from the ground by the ball collection wheel 5 till the ball was counted by touching the count sensor 27, or the length of time Ja taken for each ball to be counted by the count sensor 27 after having been picked up from the ground by the ball collection wheel 5.
For example, based on the positional information on the ball collector 1 at a time point when each ball was counted by touching the count sensor 27, the movement distance La of the ball collector 1 from the time each ball was picked up from the ground by the ball collection wheel 5 till the ball was counted by touching the count sensor 27 is reflected (returned) in the direction opposite to the traveling direction of the ball collector 1 at that time, whereby the actual position where each ball was picked up is determined.
Alternatively, for example, the positional information on the ball collector 1 at a time point earlier than the time point when each ball was counted by touching the count sensor 27 by the length of time Ja, which was taken for each ball to be counted by touching the count sensor 27 after having been picked up from the ground by the ball collection wheel 5, is obtained, and the obtained positional information is determined to be the actual position where each ball was picked up. Accordingly, it is possible to determine the correct position of each ball on the ground.
The positional information storage unit 58 stores the actual positional information on the balls corrected by the ball position identification unit 57, and sends the stored actual positional information on the balls to the management server 70. The sending timing may be any of the following: each time a ball is collected, at a time when the ball collector 1 has returned to the station 65, and at a time when the operation has finished. It should be noted that the actual positional information on the balls may be stored in an external storage device, such as a memory card that is insertable into and removable from the controller 50, for example, other than being sent to the management server 70 for the ball collector 1 and stored therein as described above.
The traveling control unit 60 performs steering control, speed control, and the like by sending control signals to drive circuits 62 of the right and left drive motors 15 and the like so that the ball collector 1 travels in accordance with a ball density distribution map described later, an operation schedule, or the like, which are sent from the management server 70. In addition, upon receiving from the ball counting unit 53 information indicating that a ball count (e.g., the number of balls counted) has reached a given number, the traveling control unit 60 causes the ball collector 1 to stop the ball collecting operation and directs the ball collector 1 to the nearest storage space 66 so as to unload the balls in the collection tank 8 into the nearest storage space 66, and then resume the ball collecting operation. It should be noted that when the traveling control unit 60 directs the ball collector 1 to the storage space 66, the battery 14 is charged at the charging equipment 67 provided beside the storage space 66, as appropriate.
Meanwhile, the management server 70, as illustrated in the functional block of
The ball distribution state acquisition unit 71, as exemplarily illustrated in a schematic view of
Based on the distribution state of balls, the ball density distribution map creation unit 72 creates a ball density distribution map M including three areas: a high-density area Ma (i.e., an area in which balls are densely present), a low-density area Mb (i.e., an area in which balls are not so densely present), and a non-dense area Mc (i.e., an area in which balls are hardly densely present). It is needless to mention that the division of the ball density distribution map M is not limited thereto.
The ball density distribution map M may be manually created by a user or automatically created by computer processing. In the present embodiment, a user can select the way of creation by operating the input device 77.
When the ball density distribution map M is manually created by a user, images (∘) of the balls B are displayed on the screen of the display device 78 as illustrated in
When the ball density distribution map M is automatically created by computer processing, as exemplarily illustrated in a conceptual view of
Data on the ball density distribution map M created in this manner is sent to the operation management unit 75 as well as to the traveling control unit 60 of the controller 50.
It should be noted that examples of the method for setting the high-density area Ma or the like by computer processing may include identifying an aggregate of balls having a distance between two adjacent balls being equal to or smaller than a set distance and setting the aggregate of balls as the high-density area Ma or the like, identifying an area having a largest number of balls or ball density in an area (size) set beforehand, such as a high-density area Ma, and setting the area having a largest number of balls or ball density as the high-density area Ma or the like, for example, other than using the number of balls per predetermined unit section as described above.
In order to improve the efficiency in the ball collecting operation, the operation management unit 75 plans an operation schedule (or a program thereof) and a traveling method/traveling aspect of the ball collector 1 using the created ball density distribution map M such that an area having a high density of balls is given higher priority than an area having a low density of balls, more specifically, such that the area having a high density of balls has a higher travel ratio (e.g., travel time or travel distance) of the ball collector 1 than that of the area having a low density of balls, and then sends the plan for each day, for example, to the controller 50 before starting a collecting operation on the day.
The controller 50 (or the traveling control unit 60 thereof) controls the ball collector 1 to be directed to the target area (Ma, Mb, Mc) and perform pattern traveling (
Herein, examples of the method for setting a higher travel ratio (e.g., travel time or travel distance) of the ball collector 1 in an area having a high density of balls than in an area having a low density of balls, may include, in the collecting operation during pattern traveling, as illustrated in
With this configuration, the travel ratio (e.g., travel time or travel distance) of the ball collector 1 is low in an area in which balls are not so densely present or an area in which balls are hardly densely present.
In addition, examples of the method for setting a higher travel ratio (e.g., travel time or travel distance) of the ball collector 1 in an area having a high density of balls than in an area having a low density of balls, may include adjusting an operation schedule such that the area having a high density of balls has a more number of times of operation (provided that the number of times of operation in a target area counts as 1 when the collecting operation while traveling across the entire target area has finished) than that of the area having a low density of balls, other than changing the traveling method/traveling aspect by, for example, adjusting the return width D in pattern traveling as described above.
A program of this method will be described with reference to the flowchart of
Herein, first in steps S111 and S112, while traveling across everywhere only the high-density area Ma, the ball collector 1 performs the collecting operation once. The traveling method may be either pattern traveling or random traveling (the same applies hereinafter).
Next in steps S113 and S114, while traveling across the inside of the low-density area Mb, that is, everywhere the high-density area Ma+the low-density area Mb, the ball collector 1 performs the collecting operation once. This means that the ball collector 1 has finished the collecting operation in the high-density area Ma twice, and the collecting operation in the low-density area Mb once.
Next in steps S115 and S116, while traveling across the inside of the work area W (i.e., the inside of the non-dense area Mc), that is, everywhere the high-density area Ma+the low-density area Mb+the non-dense area Mc, the ball collector 1 performs the collecting operation once. This means that the ball collector 1 has finished the collecting operation in the high-density area Ma three times, the collecting operation in the low-density area Mb twice, and the collecting operation in the non-dense area Mc once.
It should be noted that the number of times of collecting operation or the travel time may vary among steps S111 and S112, steps S113 and S114, and steps S115 and S116 or the return width D in pattern traveling may be adjusted in the respective steps such that the area having a high density of balls has a higher travel ratio (e.g., travel time or travel distance) of the ball collector 1 than that of the area having a low density of balls.
As is clear from the aforementioned description, the scattered object collection system of the present embodiment identifies an actual position where each ball was picked up in the work area W using a signal received by the signal receiving unit 44 and a detection signal obtained by the count sensor 27, acquires a distribution state of balls in the work area W using the identified actual positional information on each ball, creates a ball density distribution map M including three areas having different ball densities: the high-density area Ma, the low-density area Mb, and the non-dense area Mc based on the acquired distribution state of balls, and allows the ball collector 1 to travel to perform a collecting operation in a place having a high density of balls with higher priority than a place having a low density of balls, more specifically, such that the place having a high density of balls has a higher travel ratio (e.g., travel time or travel distance) of the ball collector 1 than that of the place having a low density of balls, using the created ball density distribution map M. This reduces unnecessary traveling of the ball collector 1 and improves the efficiency in the ball collecting operation.
With an increased efficiency in the ball collecting operation, it is possible to achieve reduction in operation costs of a facility, such as reduction of the number of balls in stock, for example, and reduce the number of times of charging due to a low battery consumption (power consumption) relative to the number of collected balls, whereby the energy cost can be low.
It should be noted that the controller 50 of the ball collector 1 may perform the acquiring of a distribution state of balls, the creating of a ball density distribution map and the like, or an operator may perform them based on the actual positional information on the balls and then input information to the controller 50 of the ball collector 1 and the management server 70.
The aforementioned embodiment illustrates an example in which the ball collector 1 includes the count sensor 27 for counting the number of balls in the collection tank 8 as a sensor for detecting that each picked-up ball has been collected (i.e., detecting the position of each collected ball), at a position detected by a satellite positioning system, such as a GPS, for example, and the count sensor 27 sequentially detects that each ball has been collected and identifies the position of the ball. Alternatively, the ball collector 1 may include a weight sensor for measuring the weight of each ball in the collection tank 8 and another sensor so that the weight sensor detects that each ball has been collected and the other sensor identifies the position of the ball. As a further alternative, the ball collector 1 may include a sensor for counting the number of balls in the collection tank 8 and another sensor so that the former sensor detects that each ball has been collected and the latter sensor identifies the position of the ball. For such sensors, a physical detection method using a button, a detection method using a laser, or a detection method using a camera image is considered, for example. In addition, it is desirable that any balls be detectable even if they are not expensive ones with built-in IC chips. In that case, the aforementioned sensor is preferably used to detect that each ball has been collected. In particular, the ball collector 1 is preferably an unmanned autonomous ball collector.
The place (i.e., area) where the ball collector 1 is used, the types of balls to be collected, and the like are not limited to the aforementioned examples.
Although the aforementioned embodiment illustrates examples in which the objects to be collected (i.e., scattered objects) are golf balls that have been struck and scattered on the ground in the golf driving range, the present embodiment is not limited thereto and is similarly applicable when the objects to be collected (i.e., scattered objects) are balls scattered on the ground in a sports facility, such as tennis balls or baseballs, nuts, or containers, for example.
Although the embodiment of the present invention has been described in detail above, the specific configuration is not limited thereto, and any design changes and the like that are within the spirit and scope of the present invention are encompassed by the present invention. In addition, the techniques of the aforementioned embodiment can be combined as appropriate as long as there is no contradiction or problem in the objects, configurations, or the like of the embodiment.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-120081 | Jul 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/004619 | 2/8/2021 | WO |
