Robotic device and method for setting up at least one bowling pin

Abstract

An appliance for setting up at least one bowling pin. The appliance includes an object recognition device for detecting the bowling pin and an orientation of the bowling pin, wherein the orientation of the bowling pin encompasses a vertical orientation and a horizontal orientation of the bowling pin, at least one robot arm which is designed for gripping and holding the bowling pin and for setting up the bowling pin onto a predefined desired position and a control unit which is designed to evaluate data of the object recognition device and to activate the robot arm in dependence on the predefined desired position of the bowling pin and/or on the detected orientation of the bowling pin.

Claims

1. An appliance for setting up at least one bowling pin, comprising: an object recognition device detecting the at least one bowling pin and an orientation of the at least one bowling pin, wherein the orientation of the at least one bowling pin encompasses a vertical orientation and a horizontal orientation of the at least one bowling pin, a robot arm gripping and holding the at least one bowling pin and setting up the at least one bowling pin onto a predefined desired position, a control unit evaluating data and/or signals from the object recognition device and activating the robot arm in dependence on the predefined desired position of the at least one bowling pin and/or on the detected orientation of the at least one bowling pin, the object recognition device detecting a position of the at least one bowling pin and the control unit activating the robot arm in dependence on the detected position of the at least one bowling pin, wherein the detected position includes an actual position which is horizontally displaced with respect to the predefined desired position, the control unit activating the robot arm such that when a first number of the bowling pins has the horizontal orientation detected by the object recognition device, all bowling pins including the first number of the bowling pins in the horizontal orientation are moved and a second number of vertically orientated bowling pins are moved into the horizontal orientation, and the robot arm only grips the second number of bowling pins and returns the second number of bowling pins up into the actual position horizontally displaced with respect to the predefined desired position and returned into the vertical orientation, and a pusher controlled by the control unit, the pusher pushing all of the bowling pins into the pit, including pushing the first number of the bowling pins in the horizontal orientation into the pit and pushing the second number of vertically orientated bowling pins into the horizontal orientation and into the pit.

2. The appliance according to claim 1, wherein the robot arm grips and/or sets up the at least one bowling pin in a manner engaging over bowling lanes.

3. The appliance according to claim 2, wherein the robot arm is arranged in a stationary manner for gripping the at least one bowling pin which is located on adjacent ones of the bowling lanes.

4. The appliance according to claim 1, wherein the robot arm is arranged on a vehicle for transverse movement with respect to bowling lanes.

5. The appliance according to claim 1, further comprising a position sensor connected to the control unit, for recognising a position of the traversable robot arm, wherein the control unit activates the traversable robot arm in dependence on its position.

6. The appliance according to claim 1, wherein the object recognition device recognizes an identifier feature located on a certain bowling pin from a group of the at least one bowling pins.

7. The appliance according to claim 1, wherein the object recognition device detects a bowling ball and a position of the bowling ball, the robot arm grips and holds the bowling ball and moves the bowling ball onto a predefined desired position, the control unit activates the robot arm in dependence on the detected position of the bowling ball.

8. The appliance according to claim 1, wherein the object recognition device is arranged on the robot arm and/or above and/or next to the robot arm.

9. The appliance according to claim 1, wherein the robot arm includes at least one idle position and one gripping position.

10. The appliance according to claim 1, wherein there are two robot arms.

11. The appliance according to claim 10, wherein the control unit, in dependence on an operating state of the robot arm, activates the robot arm and/or a respective other robot arm.

12. The appliance according to claim 1, wherein the object recognition device includes a sensor, a laser scanner, a switch button or a camera.

13. A bowling system, comprising the appliance according to claim 1 and a bowling lane which extends essentially horizontally.

14. The bowling system according to claim 13, further comprising at least two essentially horizontally extending bowling lanes, and wherein the robot arm grips and/or sets up the at least one bowling pin from over the bowling lanes.

15. The bowling system according to claim 14, further comprising a traversable vehicle, wherein the robot arm is arranged on the traversable vehicle.

16. The bowling system according to claim 15, further comprising at least one rail or guide, on which the traversable vehicle is traversed.

17. The bowling system according to claim 14, wherein the robot arm is arranged in a stationary manner with respect to the bowling lanes.

18. The bowling system according to claim 13, wherein a ratio of robot arms to bowling lanes is smaller than one.

19. The bowling system according to claim 13, wherein a ratio of robot arms to bowling lanes is larger than one.

20. The bowling system according to claim 13, further comprising a ramp which extends along the bowling lane, wherein the ramp is inclined towards the horizontal and includes a guide rail for a bowling ball, wherein the robot arm places the bowling ball onto the ramp.

Description

(1) The invention is hereinafter explained by way of the attached figures. In the figures are shown in

(2) FIG. 1 a perspective view of an appliance for setting up bowling pins;

(3) FIG. 2 a further view of an appliance for setting up bowling pins;

(4) FIG. 3 a further view of the appliance for setting up bowling pins;

(5) FIG. 4 various desired positions of bowling pins;

(6) FIG. 5 a schematic representation of the appliance for setting up bowling pins according to FIGS. 1-3;

(7) FIG. 6 a schematic representation of a bowling system with several bowling lanes; and

(8) FIG. 7 a schematic representation of a further bowling system with several bowling lanes.

(9) In the figures, recurring features are provided with the same reference numerals.

(10) FIGS. 1 to 3 show different views of an appliance 1 for setting up bowling pins 2. The appliance 1 is located at one the end of a level lane 10 which is sometimes also called a run surface 10 or bowling lane 10. What can be recognised are various bowling pins 2 which are set up or can be set up in a region 13, the so-called pindeck 13, of the run lane 10. A deepening 6 which is designed as a pit or gutter 6 and into which toppled bowling pins 2 can be transported is adjacent to the region 13. A pusher can be provided (not represented), said pushed being capable of pushing toppled and/or standing bowling pins 2 from the pindeck 13 into the pit 6. Typically, the bowling pins 2 are toppled over by the bowling ball 9. As a rule, the bowling ball 9 is manufactured from a plastic mass and as a rule has a weight of 3.5 to 7.3 kg. Furthermore, a bowling pin 2 usually weights between 1300 and 1640 grams and is about 35 to 40 cm, e.g. about 38 cm high. The bowling pin 2 mostly has a core of wood which is provided with a plastic coating.

(11) The appliance 1 comprises two robot arms 3, 4 which each weight roughly 100 to 150 kg. One can also provide more than two robot arms or a single robot arm. The robot arms 3, 4 are designed for gripping and holding a bowling pin 2. Furthermore, the robot arms 3, 4 are designed for setting up the bowling pins 2 onto a predefined desired position 5, 12. The robot arms 3, 4 can be multi-axis robots. For this, the robot arms 3, 4 can comprise several arm segments 22, 23, 24. In the shown embodiment example, the robot arms 3, 4 each comprise a base 20, on which a platform 21 is rotatable arranged about a vertical rotation axis. A pivot arm segment 22 is pivotably arranged on the platform 21. A further arm segment 23 which for example can be designed as a rotation arm segment is arranged on the pivot arm segment 22. A gripping arm segment 24 which comprises a rotation axis is arranged on the further arm segment 23. A gripping device 25 which can be moved in space and pivoted via an activation of the movement axes of the robot arm segments 22, 23, 24 can be arranged on the gripper arm segment 24. The gripping device 25 can for example be a pneumatic, mechanical and/or magnetic gripping device. As can be recognised in the FIGS. 1-3, the robot arms 3, 4 are moreover designed for gripping and holding a bowling ball 9. The gripping device 25 can comprise a sensor which is designed for recognising a holding of the bowling pin 2 and/or of the bowling ball 9. The robot arms 3, 4 have at least one idle position and a gripping position. By way of this, one can ensure that the robot arms 3, 4 do not inhibit a throw of a bowling player or of a user of the lane 10.

(12) In the shown embodiment example, the appliance 1 comprises two robot arms 3, 4. Alternatively, one can also envisage only one robot arm or more than two robot arms. The robot arms 3, 4 are preferably of the same type. Alternatively one can also use two different types of robot arms 3, 4 for the appliance 1. The robot arms 3, 4 and/or the gripping devices 25 can each be disassembled in a destruction-free manner, so that they can be partly or completely disassembled in the case of a defect function and be replaced by another robot arm or another gripping device 25.

(13) A non-represented ramp can extend laterally along the bowling lane 10. The ramp can comprise a guide rail for the bowling ball. At least one of the robot arms 3, 4 can be designed to place the bowling ball 9 onto the ramp. The ramp is inclined with respect to the level lane 10, by which means the bowling ball 9 rolls under the influence of its own weight back to the ball table which is positioned at the beginning of the lane 10. Here, the bowling player can remove the bowling ball 9 from the ball table and use it for the next game

(14) The appliance 1 further comprises an object recognition device (cf. FIG. 5) which is not represented. The object recognition device is designed for detecting the bowling pin 2 and/or the bowling ball 9 and/or the robot arm 3, 4 and/or the pit 6 and/or the lane 10 and/or a human and/or an animal. The object recognition device can further recognise which orientation the bowling pins 2 have. In other words, the object recognition device is capable of detecting whether a bowling pin 2 is toppled or stands.

(15) The object recognition device can further be designed for detecting a position of the bowling pin 2 on the lane 10. The object recognition device can be arranged for example on the robot arm 3, 4, and/or above the robot arm 3, 4 and/or next to the robot arm 3, 4. For this, the object recognition device can comprise several modules which are arranged at different locations. The object recognition device can be traversably arranged on a traversing arrangement, so that the object recognition device is always in the position of recognising a position and/or orientation of the bowling pin 2. The object recognition device can therefore be traversed (moved) if one of the robot arms 3, 4 should block the view of the object recognition device. The object recognition device can further be designed for detecting the robot arm 3, 4 or parts of the robot arm 3, 4 and/or a position of the robot arm 3, 4 and/or an orientation of the robot arm 3, 4 and/or a pivot position of the robot arm 3, 4.

(16) The object recognition device comprises at least one sensor which detects the bowling pins 2 and/or the bowling ball 9 and/or the robot arm 3, 4. A laser scanner can be used for example as a sensor. Herein, the scanner can emit several laser beams at a small distance, so that a fan of laser beams arises. The fan which is formed by the laser beams is then pivoted by way of pivoting the sensor over a detection region, as a rule at least over the region 13 (pindeck 13) and the pit 6, by which means a spatial detection of the detection region is effected. Herein, geometric data is gathered by way of distance measurement by way of the laser beams. A camera for detecting the bowling pin 2 and/or the bowling ball 9 and/or the robot arm 3, 4 can be used alternatively or additionally to the laser scanner. The object recognition device can comprise one sensor or also a multitude of sensors per bowling lane.

(17) The object recognition device can moreover be designed for recognising a certain bowling pin 7 from a group of bowling pins 2. The certain bowling pin 7 has a detection feature 8 compared to the other bowling pins 2 of the group, said feature being designed as a coloured, circumferential line 8 on the bowling pin 7 in the shown embodiment example.

(18) If the object recognition device recognises that a human or/and animal is situated within a predefined safety distance from the robot 3, 4, then the control unit which is connected to the object recognition device can be designed to switch off the robot arm 3, 4. In this manner, one can ensure that e.g. service personnel and the robot arm 3, 4 do not interfere with one another.

(19) The appliance 1 further comprises a control unit which is not represented (cf. FIG. 5). The control unit is designed to evaluate data and/or signals of the object recognition device, and to activate the robot arms 3, 4 depending on the predefined desired position 5, 12 of the bowling pin 2, 7 and/or on the detected orientation of the bowling pins 2, in order to pick up the bowling pins 2, 7 and to set them up on the bowling lane 10 or place them into the pit 6.

(20) If for example it is detected by the object recognition device that the bowling pins 2 are toppled, then the control unit activates the robot arm 3, 4 in order to set up the bowling pins 2 back onto the predefined desired positions 5. Furthermore, the control unit is usually designed to activate the robot arm 3, 4 depending on the detected position of the bowling pin 2, wherein the detected position comprises a desired position 5, 12 and/or an actual position 11 which is horizontally displaced with respect to the desired position 5, 12. Furthermore, the control unit can be designed to grip the robot arms 3, 4 depending on the detected position of the bowling ball 9, in order to grip the bowling ball 9.

(21) It can occur that a bowling pin 2, 7 is displaced from its initial position with the first throw, without toppling. This case is outlined in FIGS. 4B and 4D. The desired position 12 is represented in FIGS. 4B and 4D as a dashed line. After a first throw of a bowling player or a user of the lane 10, the bowling pin 2 is displaced to a new position 11 by the bowling ball 9 or by another bowling pin 2 without herein toppling over. This displaced position 11 of the bowling pin 2, 7 is detected by the object recognition device and is transferred to the control unit. However, before the second throw, the bowling pin 2, 7 should stand there, thus at the displaced position 11, to where it was pushed given the first throw. With the second throw, one can ensure that the bowling pin 2, 7 is set up or remains standing, precisely at where it was pushed to after the first throw, due to the fact that the control unit 3, 4 is capable of activating the robot arm 3, 4 depending on the detected position of the bowling pin 2, 7.

(22) As a rule, the control unit is connected to the pusher (cf. FIG. 5), in order to activate this. The control unit can be designed to activate the pusher and the robot arm 3, 4 in a manner such that if a first number of bowling pins 2, 7 has toppled, the pusher pushes all bowling pins 2, 7 including the second number of standing bowling pins 2 into the pit 6. In contrast to the state of the art where standing bowling pins 2 are lifted from the pindeck and it is only the toppled bowling pins are pushed into the pit, according to the present application all bowling pins 2 which are located on the pindeck 13 are pushed into the pit 6. The robot arm 3, 4 subsequently grips bowling pins 2 out of the pit 6 and sets up the bowling pins 2 onto the positions 5, 11 of the bowling pins 2 which are detected by the object recognition device.

(23) Alternatively, one can make do without the previously mentioned pusher. In this case, the control unit can activate the robot arms 3, 4 in a manner such that the robot arms 3, 4 collect up the toppled bowling pins 2, 7 from the bowling lane 10 and transport them into the pit 6, whilst the robot arms 3, 4 leave the standing bowling pins 2, 7 standing on the bowling lane 10. In particular, the mentioned activation of the robot arms 3, 4 can be effected after the first throw of the bowling ball 9 and before the second throw of the bowling ball 9.

(24) The control unit can be designed to activate the robot arms 3, 4 depending on their current orientations and positions. In particular, it is advantageous if movements of the robot arms 3, 4 and of the pusher are synchronised or coordinated with one another by way of the control unit. The control unit can activate the robot arms 3, 4 so that they move into the idle position. Furthermore, the robot arms 3, 4 can be activated in order to improve a recognition of the bowling pin 2 and of the bowling ball 9 by the object recognition device. The control unit can further activate the traversing arrangement of the object recognition device.

(25) In a further variant, the control unit is connected to the sensor of the gripping device.

(26) The control unit can comprise a microcontroller, a processor, a microprocessor and/or a digital signal processor for the processing and/or handling of the signals and/or of the data of the aforementioned sensors. Hereby, a digital signal processor (DSP) can be designed for a continuous processing of digital signals, for example digital signals of the aforementioned sensors. One can further envisage the control unit being designed to activate one or more of the mentioned sensors.

(27) Furthermore, the control unit can comprise one or more memories, such as e.g. random access memory (RAM), read only memory (ROM), a hard disc, a magnetic storage medium and/or an optical drive. A program, e.g. software for processing or handling the data and/or the signals of a sensor or several of the aforementioned sensors can be stored in the memory.

(28) Furthermore, an input means which has not been represented (cf. FIG. 5) and which is connected to the control unit can be provided. A user can specify the predefined desired position 5, 12 of the bowling pins 2, 7 or a predefined arrangement of the bowling pins 2, 7 (triangle, rectangle, rhombus, line, shaped line etc.) on the lane and forward it to the control unit via the input means. The control unit and the input means can be connected to one another e.g. optically by way of glass fibres, electrically by way of cables or via a wireless communications device.

(29) Different arrangement possibilities of bowling pins 2, 7 are shown in FIG. 4. According to FIG. 4A, ten bowling pins 2, 7, 12 are arranged into an isosceles triangle. FIG. 4C shows an arrangement of nine bowling pins in a square. Of course, many different arrangements of bowling pins 2, 7, 12 are possible and the present application is not limited to a certain arrangement of bowling pins 2, 7.

(30) A method for setting up at least one bowling pin 2, 7 is provided by the present document. The method comprises the steps: detecting the bowling pin 2, 7 and an orientation of the bowling pin 2, 7, wherein the orientation of the bowling pin 2, 7 comprises a vertical orientation and a horizontal orientation of the bowling pin 2, 7; gripping the bowling pin 2, 7 by way of a robot arm 3, 4; and setting up the bowling pin 2, 7 onto a predefined desired position by way of the robot arm 3, 4.

(31) The method can comprise further steps: detecting a position of the bowling pin 2, 7, wherein the detected position comprises a desired position and/or an actual position which is horizontally displaced with respect to the desired position; and moving the robot arm 3, 4 depending on the detected position of the bowling pin 2, 7,

(32) Furthermore, additional steps can be envisaged by the method: detecting a position of a second number of vertically orientated bowling pins 2, 7; pushing toppled bowling pins 2, 7 and standing bowling pins 2, 7 into a pit 6; gripping bowling pins 2, 7 out of the pit 6 by way of the robot arm 3, 4; and setting up the bowling pins 2, 7 onto the detected position 11 by way of the robot arm 3, 4.

(33) In particular, the described method can be carried out with the appliance 1 which is described above.

(34) FIG. 5 shows a schematic representation of the appliance 1 for setting up bowling pins 1. It is to be recognised in FIG. 5 that the control unit 30 is connected to the object recognition device 31, to the input means 32, to the pusher 33 and to the robot arm 4. Furthermore, in FIG. 5, by way of dashed lines it is indicated that the control unit 30 is connected to a stepper motor of a vehicle 34 (see below). The control unit 30 and the object recognition device 31, the input means 32, the pusher 33, the robot arm 4 and/or the stepper motor of the vehicle 34 can each be connected to one another e.g. optically by way of glass fibres, electrically by way of cables or via a wireless communication device.

(35) An operating state of the robot arm 3, 4 can be communicated to the control unit 30 via the input means 32. If one of the robot arms 3, 4 is no longer functioning due to a defect, then the operating state ““non-functional” or “poor” can be inputted e.g. at the input means 32. The control unit 30 then activates the respective other robot ram 3, 4 in dependence on this operational state, so that the other robot arm 3, 4 assumes the functions of the non-functioning robot arm 3, 4. The input means 32 can be e.g. a keyboard, a mouse, a touchscreen, a handy such as a smartphone, or the like. It is to be understood that the invention is not limited to a certain input means 32. Alternatively or additionally, means (not represented) for detecting an operational state of the robot arm 3, 4 can be provided, said means displaying which operational state the respective robot arm 3, 4 has. These detection means can also be connected to the control unit 30 in the manner described above.

(36) FIG. 6 shows a schematic representation of a bowling system 100 with several bowling lanes (lanes) 111, 112, 113, 114, whose longitudinal axes are aligned parallel to one another. Four bowling lanes 111, 112, 113, 114 are shown in the represented example. Of course, more or less than four bowling lanes can be provided. The bowling system 100 comprises five robot arms 101, 102, 103, 104, 105 which are arranged in a stationary manner with respect to the bowling lanes 111, 112, 113, 114. For example, at least the robot arms 102, 103, 104 are arranged between the bowling lanes 111, 112, 113, 114. The robot arms 101, 102, 103, 104, 105 can each be fastened to a non-represented carrier which is located at a certain height above the bowling lanes 111, 112, 113, 114. The robot arms 101, 102, 103, 104, 105 are all connected to the control unit. 30. The control unit 30 can therefore activate the robot arms 101, 102, 103, 104, 105 individually and coordinate the operational sequence of the robot arms. The middle three robot arms 102, 103, 104 are each designed for gripping, holding and setting up bowling pins 2 which are located on two adjacent bowling lanes. For example, if robot arms 101 and 103 should fail due to a malfunction, the bowling pins 2 of the bowling lanes 111, 112 can be gripped and set up by the robot arm 102. By way of the provision of redundant robot arms, it can be ensured that the bowling lanes 111, 112, 113, 114 can also be played on if one robot arm or several robot arms have broken down and need to be repaired. Alternatively, one can also make do without robot arms 101, 103, 105 in order to lower costs. In this case, the robot arms 102 and 104 can pick up and set up the bowling pins 2 of the lanes 111, 112 and 113, 114 respectively, in a manner engaging over the lane.

(37) FIG. 7 shows a schematic representation of a further bowling system 200 with several bowling lanes (lanes) 211, 212, 213, 214 which run parallel to one another. The bowling system 200 differs from the bowling system 100 in that a rail system 35 and traversable robot arms 201, 202, 203, 204 and 205 are provided. Alternatively, the bowling system 200 can also comprise one or more guides for the robot arms 201, 202, 203, 204, 205. The robot arms 201, 202, 203, 204, 205 which are connected to the control unit 30 are each arranged on a traversable vehicle 34. The vehicles 34 comprise wheels, tires or rollers and are assembled on the rail system 35, wherein the rail system 35 can be positioned at the same height as the bowling lanes 211, 212, 213, 214 (e.g. next to the bowling lanes) or also at a certain height above the bowling lanes 211, 212, 213, 214. The rail system 35 comprises e.g. a main rail 36 which runs transversely to a longitudinal axis of the respective bowling lane 211, 212, 213, 214, and five siding rails 37 which extend parallel to the longitudinal axes of the bowling lanes 211, 212, 213, 214 and are connected to the main rail 36.

(38) In FIG. 7 it is indicated that the robot arm 204 is located on the siding rail 37. If for example it is ascertained that the robot arm 201 is non-functional according to the operating state “poor”, then the control unit 30 can initiate the robot arm 201 into travelling to one of the siding rails 37 and to subsequently switch it off according to the operating state “off” and “poor”. This is represented in FIG. 7 by the arrow 38. The now absent robot arm 201 can be compensated by traversing the robot arm 202 on the main rail 36. Position sensors for recognising a position of the traversable robots arms 201, 202, 203, 204, 205 can be provided so that the control unit 30 knows where the individual robot arms or vehicles 34 are located. The respective position sensors can be fastened e.g. to the robot arms 201, 202, 203, 204, 205 or a constituent of the stepper motors. Alternatively, the object recognition device 33 is used for the detection of the positions of the robot arms 201, 202, 203, 204, 205. The control unit 30 then controls the robot arms 201, 202, 203, 204, 205 or the stepper motors of the vehicles 34 of the robot arms 201, 202, 203, 204, 205 in dependence on their position.

(39) In the shown embodiment example, the bowling lane 213 is not played on at the present time. For this reason, the associated robot arm 204 was traversed onto the siding rail 37 and temporally switched off by way of activating the control unit 30. In the shown example, its operating state is therefore “good” and “off”. The further robot arms 202, 203 and 205 each have the operating state “good” and “on”.

(40) In a further embodiment, the vehicle 34 is traversable on a track (not represented) which is envisaged for this. The track is usually adjacent to the bowling lanes 211, 212, 213, 214. The track can have e.g. a similar or the same course as the rail system 35 which is shown in FIG. 7. The track is preferably dimensioned in a manner such that at least two vehicles 34 can be moved next to one another in opposite directions without collisions of the two vehicles 34 occurring. In this case, the vehicle can be designed in a self-driving manner, i.e. the vehicle 34 can comprise suitable software and hardware, in order to move the robot arm 201, 202, 203, 204, 205 from one of the bowling lanes 211, 212, 213, 214 to one of the other bowling lanes 211, 212, 213, 214 without any accidents.

(41) Here, it is to be emphasised that features of the aforementioned bowling systems 100, 200 can be combined with features of the appliance 1 or with features of the aforementioned method and vice versa, inasmuch as these features do not mutually contradict or exclude one another.

LIST OF REFERENCE NUMERALS

(42) 1 appliance for setting up bowling pins 2 bowling pin 3 robot arm 4 robot arm 5 desired position 6 pit 7 certain bowling pin 8 detection feature 9 bowling ball 10 lane 11 displaced position 12 desired position 13 pindeck 20 base 21 stand 22 pivot arm segment 23 further arm segment 24 gripping arm segment 25 gripping device 30 control unit 31 object recognition device 32 input means 33 pusher 34 vehicle 35 rail system 36 main rail 37 siding rail 38 arrow 100 bowling system 101 robot arm 102 robot arm 103 robot arm 104 robot arm 105 robot arm 111 bowling lane 112 bowling lane 113 bowling lane 114 bowling lane 200 bowling system 201 robot arm 202 robot arm 203 robot arm 204 robot arm 205 robot arm 211 bowling lane 121 bowling lane 213 bowling lane 214 bowling lane