• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A golf ball picker and grass cutting combo robot is provided. The robot picks up golf balls and cuts grass in the same operation run. It is advantageous to use for golf clubs. The robot keeps down the time where players on a golf field doing their exercises has to stop their play due to needed maintenance of the golf field.
    公开号:DK201770870A8
    申请号:DKP201770870
    申请日:2017-11-17
    公开日:2018-11-02
    发明作者:Hedegaard Thomas；E. B. Knutsson Hans；Sorin Adam Marian
    申请人:Conpleks Holding ApS；
    IPC主号:
    专利说明:

    DANMARK (1°) DK 2017 70870 A8
    PATENTANSØGNING
    Korrektion publiceret 2018-11-02
    Patent- og
    Varemærkestyrelsen
    Int.CI.: A01D 43/00 (2006.01) A63B 47/02 (2006.01)
    Ansøgningsnummer: PA 2017 70870
    Indleveringsdato: 2017-11-17
    Løbedag: 2017-11-17
    Aim. tilgængelig: 2018-09-04
    Korrektionen bkg.og publiceret den: 2018-11-02
    Prioritet:
    2017-03-03 DK PA 2017 70153
    Ansøger:
    Conpleks Holding ApS, Fælledvej 17,7600 Struer, Danmark
    Opfinder:
    Thomas Hedegaard, Skt Olai Bakke 17A, 7600 Struer, Danmark
    Hans E. B. Knutsson, Pilgårdvej 32,7620 Lemvig, Danmark
    Marian Sorin Adam, Struergårdvej 3,7600 Struer, Danmark
    Fuldmægtig:
    PATENT NORD ApS, Kjeldgaardsparken 31,9300 Sæby, Danmark
    Titel: Golf Ball Picker and Grass Cutter Robot
    Fremdragne publikationer:
    WO 0074466 A1
    WO 0078410 A1
    KR 101219495 B1
    WO 2016178616 A1
    Sammendrag:
    A golf ball picker and grass cutting combo robot is provided. The robot picks up golf balls and cuts grass in the same operation run. It is advantageous to use for golf clubs. The robot keeps down the time where players on a golf field doing their exercises has to stop their play due to needed maintenance of the golf field.
    Fortsættes...
    DK 2017 70870 A8
    o
    FIG. 1
    DK 2017 70870 A8
    Golf Ball Picker and Grass Cutter Robot
    The present invention relates to an autonomous motorised mobile robot for maintenance of golf courses.
    On the golf clubs, specially designated areas for learning/exercising the golf ball hitting (i.e. driving range) exist. In such places, several golf players are exercising at the same time requiring availability of a high amount of balls for practice. In order to satisfy the need for so many golf balls in a relatively short time, two possible solutions exist:
    1. enough stock of golf balls that the exercising golfers are not suffering from shortage in golf balls supply
    2. quick collection, cleaning, and making again available a smaller amount of golf balls.
    In both cases the balls must be collected from the field, eventually. In the first scenario, the ball collection is delayed until no people exercises. Moreover, the golf club must invest an important amount of money to ensure enough golf balls for the case when running at full capacity in terms of the number of golf players exercising at the same time.
    The second scenario has the advantage of optimizing the number of balls the golf club must buy. However, this cost saving implies that the exercising must be stopped from time to time in order to collect the balls - collecting the balls when exercising is ongoing is too dangerous.
    An autonomous system for maintenance of grounds for practising a play is disclosed in US 2005/0055142 A1 ’’TURF IMAGE MARKER” from March 10th 2005. It describes an autonomous ground maintenance vehicle equipped with a sport field image marker which is able to perform combined grass cutting and painting of surfaces. It applies position means e.g. to define the position of a vehicle carrying a system for marking images and a system for grass cutting. It follows a trajectory defined by the position of the
    DK 2017 70870 A8 vehicle and the position of a mark to be paint on the ground by sending signals to two motors one on each wheel.
    US2010250024 A1,’’FULLY AUTONOMOUS OR REMOTELY OPERATED GOLF BALL PICKING SYSTEM” from 30 September 2010 (WO 2009/022929 A2 from February 19th 2009), describes a motorized system with electric traction with computer vision for collecting golf balls. It comprises a base on two wheel each attached to its respective motor and a trailer with a container for collected golf balls. A computer system on top of the base processes input from sensors and video camera images and determines upon detection of a golf ball how much power to send to each motor on each wheel to drive the system along a predetermined trajectory in order to get to the position of the golf ball. Having reached the position the system picks up the golf ball. When the trailer is fully loaded with golf balls the system drives to a dropping station and unloads the golf balls.
    EP 2 343 106 A2,’’Method, system and apparatus for the automatic collection and delivery of spherical game elements” from July 13th 2011, describes also a vision-based system for automatic collection of balls. Although the field of the invention is for collecting tennis balls and delivering to a player, the system is also usable for other spherical game elements such as golf balls. It uses image acquisition means and analysis of the images to find the balls.
    The documents of prior art describes different mobile systems for one or two tasks to be performed for maintenance of a playing area.
    Thus, the objective problem of the present invention is to provide an autonomous system which performs one or more of the main tasks of maintenance of golf playing areas in a more efficient way minimising the time the play has to be stopped.
    DK 2017 70870 A8
    Summary of the invention.
    The problem is solved by an automated mobile robot according to claim 1, comprising guiding means to autonomously drive on various surfaces.
    Different embodiments of the automated mobile robot are claimed in claim to 9.
    In an embodiment, according to claim 2 the combo robot has at least three wheels and specific orientation and position means.
    In another embodiment, according to claim 3 the combo robot has a picker module which is liftable.
    In another embodiment, according to claim 4 the combo robot has a picker module comprising blades along a transverse axis of the combo robot to grab items.
    In another embodiment, the combo robot is self-propelled, see claim 5, or driven by a propulsion unit, see claim 6.
    In a yet other embodiment the combo robot comprises a computer to control the drive along a pre-defined route, see claim 7, the control may be adaptive, claim 8, and the robot may be remotely supervised and controlled, claim 9.
    The surface where practicing of golf players takes place needs turf maintenance. Therefore, in addition to the need to collect golf balls, the grass length is maintained using the grass-cutter. Systems of prior art require two runs to maintain the practicing area. This means that the practicing area is unavailable for practicing for even longer.
    The present invention addresses all the problems presented by combining the balls picking with the grass trimming in one machine. The automated golf-picking machine will be able to continuously collect the golf balls, even when the players are exercising, and deliver the collected balls to a collection, cleaning and dispensing station while being able to trim the grass in the same run.
    DK 2017 70870 A8
    The above robot is better suited to golf clubs due to much higher capacity.
    In addition, as the robot is using GNSS instead of computer vision it is much less demanding in terms of computation power, whereby a low power processor can be used.
    The robot does not require a detection of the golf ball prior to picking it up as the whole turf area is cleaned for golf balls in the same run by the same robot prior to the grass-cut along a predetermined route. The golf ballpicking robot is adapted to pick up items (balls) in front of the grass-cutting module.
    In addition to be able to drive on grass, the automated motorised robot is also able to drive on a multitude of other surfaces including asphalt, concrete, gravel, etc.
    In order that the invention may be well understood, some non-limiting examples will now be described with reference to the drawings in which:
    Fig. 1 shows a possible implementation of a Golf Ball Picker and Grass Cutting Combo Robot - top view.
    Fig. 2 shows the Golf Ball Picker and Grass Cutting Combo Robot of Fig. 1 bottom view.
    The main parts of the robot as depicted in Fig. 1 and 2 are:
    - caster wheel
    2, 3 - driving wheels (containing encoders)
    - golf balls picker module
    5, 6 - motors
    DK 2017 70870 A8
    - controller (containing an IMU/AHRS)
    - golf balls collection bay
    - golf balls offloading gate
    - grass-cutting module
    - grass-cutting blade
    - golf balls offloading gate actuator
    - golf balls offloading gate actuating cable
    14-GPS/GNSS
    Referring to Fig. 1 and Fig. 2 a Golf Ball Picker and Grass Cutting Combo Robot comprises a golf balls picker module (4) attached to a robot able to pick autonomously e.g. golf balls from a golf field. The picker module (4) is arranged in the front defined by the main driving direction and has grabbing means, and in the back a grass-cutting module (10).
    The combo robot of Fig. 1 and 2 has two wheels (2 and 3) driven by two motors (5 and 6) controlled by a controller (7). A caster wheel (1) ensures the stability ofthe combo robot, and permits the differentially driven control of the combo robot. A combo robot on wheels has at least three wheels in total.
    The wheels (2 and 3) contain encoders used by the controller (7) to help estimating the position and the speed of the combo robot.
    A combo robot could be self-propelled or driven by a propulsion unit.
    The guidance means of a combo robot may comprise e.g. a global navigation satellite system (GPS/GNSS) (14) to drive a predefined route on e.g. a golf field.
    For position estimation ofthe example combo robot above a GPS/GNSS (14) system together with an IMU/AHRS may be installed in the controller (7) (not shown in the figures). The described means are examples of positions and orientation means.
    DK 2017 70870 A8
    Other means providing orientation and position information includes encoders for counting a travelled distance, IMU/AHRS for measurement of the inclination/angles to the ground, camera for detection of obstacles on the ground e.g. a golf club, and LIDAR for measurement of distance to obstacles. Other possible methods, which may be applied, are radar, optical/electrical/ultrasound triangulation, RFID, etc. The position and orientation information are used to navigate the predefined route.
    The balls are collected in the collection bay (8), and are offloaded by opening the offloading gate (9). Opening the offloading gate (9) is done by a gate actuator (12) through the golf balls offloading gate actuating cable (13).
    The balls collecting module (4) may be adapted to be lifted from the ground when needed, e.g., when turning or when driving to and from the ball unloading station or to and from a charging station (in case of an electrically driven machine).
    The grass-cutting module (10) comprises one or more grass-cutting blades (11).
    The picker module (4) comprises collection means, such as a series of circular blades distributed evenly along a transverse common axis at a distance smaller than the diameter of the collected item, and a robot arm to collect the items.
    An embodiment of the invention may have the following characteristics and advantages or capabilities:
    1. GNSS-controlled combined robot that trims the turf and collects golf balls
    2. Autonomous driving in the field based on a pre-defined route
    3. Autonomously collect balls on a pre-defined area
    4. Autonomously trim the grass in a pre-defined area
    5. Sweet-spot ball collecting automatically or after being manually driven to the centre of the area
    DK 2017 70870 A8
    6. Learning the area to clean
    7. Able to provide statistics about the amount of collected balls per square meter
    8. Balls number communication between the robot and the offloading station
    9. Scheduled operation (like automatically starting to work during the night)
    10. Storage of balls in a carried-on container with a quick-release mechanism for offloading the balls
    11. Grass cutting unit that makes possible combined golf balls collection and grass cutting
    12. Remotely supervised and controlled with a computer/tablet/smartphone
    13. Automatically returning for charging and for balls offload
    14. Obstacle detection and avoidance
    15. Access to a Charging station
    16. Access to a Ball collecting and cleaning station
    DK 2017 70870 A8
    权利要求:
    Claims (9)
    [1] 1. A mobile robot for ground maintenance comprising a picking module, (4) for collecting items, such as golf balls, a golf balls collection bay (8) for storing the items, and guidance means to guide the robot along a predefined route characterized in that the guidance means are orientation and positions means and in that the robot further comprises a grass-cutter module (10), the picking module (4) being arranged to pick up the items from the ground prior to the grass-cutter module (10) cutting grass on the ground.
    [2] 2. A mobile robot for ground maintenance of claim 1 wherein the combo robot has at least three wheels (1, 2 and 3), one is a caster wheel (1), and orientation and position means comprising a GPS/GNSS (14), a controller with an IMU/AHRS (7), and encoders placed on two or more wheels (2 and 3) to count the travelled distance on the route.
    [3] 3. A mobile robot for ground maintenance of claim 1 or 2 wherein the picking module (4) is liftable from the ground.
    [4] 4. A mobile robot for ground maintenance of any of the claims 1 to 3 wherein the picking module (4) comprises one or more blades, such as a series of circular blades distributed evenly along a transverse common axis at a distance smaller than the diameter of the item, adapted to, when in use on the ground, grab the items, by e.g. a robot arm, and to collect the items.
    [5] 5. A mobile robot for ground maintenance of any of the claims 1 to 4 wherein the robot is self-propelled.
    DK 2017 70870 A8
    [6] 6. A mobile robot for ground maintenance of any of the claims 1 to 4 wherein that the robot is driven by a propulsion unit.
    [7] 7. A mobile robot for ground maintenance of any of the claims 1 to 6
    5 wherein the robot has a computer to control (7) the driving of the robot along a pre-defined route.
    [8] 8. A mobile robot for ground maintenance of claim 7 wherein the control is adaptive.
    [9] 9. A mobile robot for ground maintenance of any of the claims 1 to 8 wherein the robot is adapted to be remotely supervised and controlled with a computer/tablet/smartphone.
    DK 2017 70870 A8
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    同族专利:
    公开号 | 公开日
    DK179458B1|2018-11-05|
    DK201770870A1|2018-11-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2018-11-02| PAT| Application published|Effective date: 20180904 |
    2018-11-05| PME| Patent granted|Effective date: 20181105 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201770153|2017-03-03|
    DKPA201770153|2017-03-03|
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