Abstract:
A collection apparatus including an autonomous power supply means and an image acquisition means for acquiring image sequences of at least one area of surveillance is disclosed. The collection apparatus may further include control means connected to the image acquisition means for receiving and processing the acquired sequences of images, to detect the presence and position of said game elements, and to send a control command to move the collection apparatus to collect a detected spherical game element. The collection apparatus also includes interaction means for interacting with a player to deliver a previously collected spherical game element to the player and a delivery device controlled by the control means to perform the delivery. An automatic collection system is also disclosed that uses two collection apparatuses, operating in a complementary and/or synchronized way to collect and deliver a spherical element to a player, on request by the player.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This U.S. patent application is a continuation-in-part application of, and claims priority under 35 U.S.C. §120 from, U.S. patent application Ser. No. 13/521,984, filed on Jul. 12, 2012, which is the National Stage of International Application No. PCT/IB2011/050079, filed on Jan. 10, 2011, which was assigned a priority date of Jan. 12, 2010. The disclosures of these prior applications are considered part of the disclosure of this application and are hereby incorporated by reference in their entireties. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to a movable apparatus for the automatic collection and controlled individual delivery of spherical game elements such as a ball in a game and to a system including at least two such apparatuses operating in a controlled coordinated manner. 
     BACKGROUND 
     Application WO-A-2009022929 describes an automatic golf ball collection system that can function autonomously or remotely controlled. It includes an artificial vision system to detect the balls to be collected, and a processing system which processes the images acquired by the artificial vision system, and which individually controls motors which move a collection vehicle, defining a path to be followed according to the detections found in the images. Several operational modalities are proposed with reference to the path to be followed by the collection vehicle e.g. it has to pass along some designated control points or control locations which are previously defined by a positioning system (for example GPS) of the own collection systems. The system provides the installation of a great variety of sensors which allow it to avoid all kind of obstacles and irregularities of the field (since it is intended for outdoor use: in particular for a golf course), as well as to return to the base station if weather conditions are adverse. 
     DE-A-19711298A discloses a method and a device for the detection and automatic collection of objects, such as tennis balls, with a computing system including an opto-electric detection system comprising one camera, a laser scanner or a sonar sensor that, depending on the application, even can be combined. The device analyzes the surroundings, it detects the elements to be collected, and it determines the collection trajectory, along which the device can redirect its path to avoid obstacles or to choose an alternative itinerary 
     In US-A-20080189004, a vehicle for ball collection in a golf course is disclosed, which follows either one balls collection trajectory or another one based on the information relative to the balls distribution on the field. The information can be acquired by means of a visual sensor located on the vehicle itself or on a remote unit. Its specification indicates that collection of other types of balls can be a performed, such as those for tennis. In EP-B 0372249, a device to collect tennis balls in an automatic way is proposed, as well as to smooth the playing surface by means of a brush. 
     In the cited applications, possible interaction of the ball collection apparatus or device with the player is unsolved or insufficiently developed, whereby the possibility for the device to deliver the game balls or balls to the player and generally the response time is deficient to use the application in a game dynamic without imposing restraints or excessive changes. The purpose of this invention solves such deficiencies. 
     SUMMARY 
     The present invention relates to a movable apparatus for the automatic collection and controlled individual delivery of spherical game elements such a ball in a game. The invention also relates to a system comprising at least two of the cited apparatus that operate in a controlled coordinated manner. For clarity of the following explanation, in the present application the game area will be intended to be that zone of a game surface or game field where the impact or fall of the ball is considered as being valid, according to the rules of a game. Likewise the game surface will be intended to be the game field as a whole including a zone surrounding the cited game area, where mainly ball collection apparatuses will operate. 
     One aspect of the disclosure provides a movable apparatus for the automatic collection and controlled individual delivery of spherical game elements such as a ball and in particular a tennis ball. 
     The disclosed movable apparatus includes an autonomous power supply means (for instance an electric motor assisted by an electric battery), an image acquisition device (such as a camera) for acquiring image sequences of at least one area of surveillance, a control device, interaction means, and delivery means (such as a throwing or launching element). The control device is based on a computer device connected to the image acquisition means for receiving the acquired sequences of images, for processing at least part of the sequences of images to detect the presence and position of at least one spherical game element in the surveillance area, for sending a control command to move the apparatus to the position of the at least one detected spherical game element, and for instructing the apparatus to collect the detected spherical game element. The interaction means includes at least a recognition device capable of interacting with a player to perform a controlled and individual delivery of a previously collected spherical game element to a said player. The delivery means, which is controlled by the control device, performs the controlled and individual delivery of a previously collected spherical game element to the player 
     The movable apparatus of this disclosure also performs the delivery of the spherical element to the player—on request of the player or in an automatic manner (such as a prefixed command by a user)—from a collection point. To accomplish this, the movable apparatus approaches the player up to a determined distance, or it is accomplished via an intermediate delivery mechanism selected between a ball launcher machine, a ball storage deposit with auxiliary launcher device, and a ball dispenser at a determined height with manual collection by the player, to whom said collection apparatus delivers the ball. Following this delivery, the movable apparatus returns to a given position or starts another collection. Notably, the apparatus and system of this invention are devised to implement a method disclosed in the co-pending U.S. patent application 2013/0210556 (application Ser. No. 13/521,984), which is fully incorporated herein by reference. 
     According to the invention, a player request can be performed by means of several communication ways, vocal, gestural, by a wireless device, or by combination of these ones. This particularity allows the method to be applicable to players with different disabilities, elderly people, or those who require different arrangements, in some way specific for the practice of the game that the method allows to take place. 
     The collection apparatus, which is at least one, is situated at a game area, is situated close to a game area, or after the spherical element delivery returns to a game area in which by means of statistical calculations of a game or of a series of games previously played by one or more players, it has been established that a greater number of spherical game elements will impact or fall. This condition leads to greater efficiency of the movement of the collection apparatus, because after the delivery of the ball it will go unless otherwise instructed towards an area more likely for spherical elements to impact or fall, facilitating the collection. 
     One implementation of the invention provides a system with at least two collection apparatuses, which operate in a complementary manner performing the collection or delivery of the spherical elements and moving in a coordinated and/or synchronous way in order to optimize the delivery time to the player of a spherical element following its collection. The two apparatuses share the collection and/or delivery tasks. A first one of the at least two collection apparatuses may move towards a predetermined area chosen between one of the cited areas of impact or fall of the spherical game elements (which can have been calculated by means of trajectories detection, or it may be statistically provided), while a second apparatus performs a collection or delivery. 
     Relatively to the method—of the incorporated herein co-pending U.S. Patent Application (US 2013/0210556)—for the automatic collection and delivery of spherical game elements, such as a tennis ball of the present invention, in step b)—analyzing the images to detect the presence of at least one spherical game element in said surveillance area—the disclosure allows for an analysis of the images of any zone of the game surface so as to detect any other objects or people which are present in said area of surveillance, both with reference to their position as well as with reference to the fact that they are still or they are moving, allowing to acquire their movements. Furthermore, this step b) comprises the calculation of the movement trajectory of the ball, referred to in step c)—moving a collection apparatus of spherical game elements to the location of the detected spherical game element, which is at least one, and proceed to collect it—as a function of the detected objects and/or of the position of the player with respect to the spherical element at the time of its stroke or hit or prior to it. 
     By means of the cited strategy it is possible to immediately inform the collection apparatus, about the zone in which the ball is going to fall, or it is even possible to indicate to the collection apparatus to perform movements to avoid or to try to avoid a ball, in order to maintains a safety distance in case of persons, and so that, in any case, the collection apparatus arrives as fast as possible at the location of the spherical game element or ball to be collected. 
     According to an additional characteristic it has also been provided that in the above-reference step b) of the incorporated co-pending application, the collection apparatus proceeds to detect the presence of a plurality of spherical game elements to be collected in the surveillance area, and an optimal itinerary is calculated, in time and distance, for its collection in a shared way by the collection apparatuses which are at least two and which are initially located (when the game begins) at a lateral or end zone of a tennis court, finally performing at the end the above-referenced step c) to collect all the spherical game elements. 
     The disclosed movable collection apparatus may operate in such a way that it delivers the ball by sliding on the game surface, launching it to perform at least a bounce before reaching the player, or throwing it at a determined height depending on the particular characteristics of the player in order to enable the game to be adapted to people with disabilities or physical deficiencies, calculating for this purpose the distance from the delivery point to the player and the receiving conditions. The collection apparatus may also approaches a point close to the player so that he can receive the ball practically in the hand. 
     As indicated, this disclosure also refers to a system for the automatic collection of spherical game elements such as a ball and in particular a tennis ball, of the type that includes images acquisition means, a collection apparatus, and control means. 
     The images acquisition means acquire image sequences of at least one area of surveillance. The collection apparatus of spherical game elements move and collect spherical game elements, in an automatic way. The control means connect with the acquisition and image processing means and communicate with the spherical game element collection apparatus. Further, the control means process at least part of the images to detect the presence of at least one spherical game element in the surveillance area. And the control means send a control command to the spherical game element collection apparatus so that it moves to the location of the detected spherical game element, which is at least one, and, then, the spherical game element collection apparatus proceeds to collect the at least one spherical game element. 
     The system of the present invention, in addition, includes at least two collection apparatuses provided to operate in a complementary and/or synchronized way so as to perform said collection tasks, associated to the control means. Each of said apparatuses is able to perform a delivery of the collected spherical element to the player in response to a request from him. The at least two collection apparatuses operate in a complementary and/or synchronized way during the delivery tasks. 
     Such collection apparatuses have small dimensions facilitating the transportation of the system including optional cameras for the surveillance of the playing surface, although already installed cameras on the playing course can be used. 
     Finally, the disclosure incorporates the particular characteristics of one of the two used collection apparatuses, advantageously, in the cited system, and which integrate means to interact with a player to perform a controlled delivery to a player of the collected spherical object, or go and collect a determined spherical element, in response to an order given by the same by means of a vocal order, gestural order, electronic device or by means of a combination of these means. 
     Other characteristics and particularities of the present disclosure will be apparent with greater clarity in the following detailed explanation of an exemplary embodiment, applied to a tennis court, which is provided as a non-limiting example. 
     The details of one or more implementations of the disclosure are set forth in the accompanying drawings and the description below. Other aspects, features, and advantages will be apparent from the description and drawings, and from the claims. 
    
    
     
       DESCRIPTION OF DRAWINGS 
         FIG. 1  is a schematic plan view of a tennis court including references to the various components necessary to implement a basic version of the invention. 
         FIG. 2  is a perspective view of a possible apparatus for the automatic collection and delivery of spherical elements. 
     
    
    
     Like reference symbols in the various drawings indicate like elements. 
     DETAILED DESCRIPTION 
     In  FIG. 1  a tennis court  10  can be seen, with an intermediate separation net  12 , a plurality of tennis balls  11  being associated to it, which are randomly distributed in the field of one of the two or more players  13 . The invention proposes the utilization of a ball collection apparatus  14 , preferably using two of such apparatuses  14  arranged in a lateral zone or next to each end or game surface which surrounds the court  10 . These apparatuses  14  are remotely controlled (wireless communication, standard means) by one or more control units  15  (implemented in the present case by a local computer which can be a notebook). In an implementation of the invention the cited one or more control units  15  can be integrated in one or in both the apparatuses  14 . The cited computer or computers receive information concerning the location of the balls  11  from a series of cameras  16  (their position can be diverse located in the sides and/or ends of the game surface or field or even hanging above the game area). A distinctive characteristic of the method disclosed in cited US co-pending patent 2013/0210556 and of the system of this disclosure is that said information about the balls  11 , not only includes positional information, but it is indicative of the trajectory of the same (and thus it is indicative of a fall or impact zone of the ball  11 ), and even of the relationship between a part of the player and the ball during the impact of a racket with the same as well as prior to said impact. As soon as disclosed system can capture information indicating that a ball can go out of the game area, this information is sent to one of the apparatuses  14 , which initiates a movement for its collection and subsequent delivery to the player  13 . 
       FIG. 2  shows a possible non-limiting implementation of a ball collection apparatus  14 , in accordance with the principles of this disclosure, which in the present invention includes a device provided with driving wheels  17  and steering wheels  17   a , provided with a front portion  18  intended to embrace and retain a ball, e.g., via suction through some slits, although other known systems can be used (pair of adjacent rotating rollers, rotating brushes, etc.). 
     The apparatus  14  is equipped with at least one camera  16  provided for inspection of the game field or surface, of the player and his gestures or other people and their means of interaction, or others objects which are present at a given time in the game surface, and able to provide additional information to a control unit  15  about the location of the balls  11  to be collected. 
     In the particular case in which the ball impacts the net and remains attached to it, the collection apparatus  14  have been provided to have some specific actuation means in that area going to the point where the ball is located and shaking the net or capturing the ball  11 , e.g., with some means of grabs. In the case of the collection apparatus  14  represented in  FIG. 2 , as a mere and, hence, non-limitative example, the delivery of the ball  11  will occur by sliding on the game surface and by striking it utilizing a means of a throwing or launching element associated to the collection head. 
     It has also been provided that the apparatus  14  can deliver the ball in an automatic way, from some prefixed positions, e.g., next to the player, following an established command from the player or it can also approach the player and only delivers the ball  11  following his request. 
     The illustrated apparatus  14  or another similar one (with adaptations to transfer and manipulate the balls) can also deliver the ball  11  to an intermediate device (not illustrated) which either: 1) will launch it to realize at least one bounce before reaching the player; or 2) will throw it at a determined height according to the particular player characteristics in order to adapt to people with disabilities or physical deficiencies, calculating for this purpose the distance from the delivery point to the player of and receiving conditions. As indicated, the apparatus can provide a delivery approaching the player  13 , and can provide him the ball in his hand  13 . 
     The apparatus  14  for the automatic collection of balls  11  is provided to move by means of its wheels  17 ,  17   a , towards a zone wherein the control means  15 , in connection with the image acquisition means have detected the presence of at least one ball  11 , or that the zone is going to receive the impact or fall of a ball  11 , given its trajectory. For this purpose the apparatus  14  is provided with some self-powered means such as a rechargeable battery. 
     The apparatus  14  includes means to interact with a player (luminous, acoustic signals, etc. and to receive commands: acoustic sensors, camera  16 , etc.) to perform a controlled delivery of the collected spherical object to a player, or to go to find a determined spherical object, in response to a command given by said player, by means of a vocal, gestural command, an electronic device or a combination of said means. 
     In particular the means by which the apparatus  14  interacts with a user include a recognition system of the speech, of gesture commands, or of luminous or wave signals, able to interpret verbal or gestural commands, or signals emitted by said user as control commands and an audio system has been provided in the apparatus to emit sounds and/or phrases and/or music selectable by means of said control means depending on the operating status of the apparatus. 
     In this way the apparatus  14  goes towards the ball  11  as quickly as possible, and, once it has reached the ball, proceeds to collect and place the ball  11  in a delivery or throwing position. At this point the player  13  can decide if he wants the apparatus  14  to pass him the ball  11  and to return to a determined point or base, or if he wants the apparatus  14  to go to its base and wait for a request for a ball  11 , from the player  13 . 
     The apparatus  14  can be equipped with some brushes to perform auxiliary tasks such as cleaning an area of the court, as well as with elements to mark some lines delimiting the different zones of the game area. 
     With reference to the system to implement the invention, the same is mainly characterized in that it includes at least two collection apparatuses  14  provided to operate in a complementary and/or synchronized way to perform said collection and/or delivery tasks, associated to said means of control each of said apparatuses  14  is provided to be able to perform a delivery of the collected ball  11  to the player, in response to a request thereof, said at least two apparatuses operating in a complementary and/or synchronized way during said collection and delivery tasks. 
     Instead of providing the apparatus  14  to deliver a previously collected ball  11  to the player  13  in response to a request by said player  13 , it has being provided that the player  13  can determine by means of a previously established command, the apparatus  14  to automatically operate delivering the balls  11 , to the player  13 , after their collection, e.g., from a predetermined launch point, as long as the player  13  does not establish for it to returned to a delivery of the ball on request. 
     The provided collection apparatuses  14  integrate, as shown in  FIG. 2 , at least one image acquisition device, selected from a CCD camera, a video camera, or another image capturing device, known by itself, and because there is an intercommunication between said collection apparatuses which are at least two, to cover, in a complementary way different areas of the game surface or hidden areas for one of the two cameras, with the contribution of said control means. 
     For a proper implementation of the described method the use of at least one fixed camera (not represented, since its position can be very different) which serves said game surface has also been provided, said control means  15  receiving visual information from said mobile cameras  16  fixed to the collection apparatuses  14  and from said fixed camera, which is at least one. In a preferred embodiment one or more additional rotating head cameras (not represented) have been also provided, intended to follow the player to acquire his movements, providing different angles and allowing the capture of images of different players on the court, or areas where the ball bounces, etc. Advantageously two such rotating head cameras, one for each player  13 , will be used. 
     The control means comprise a first electronic system (located in local control units  15 ) separate from the balls  11  collecting apparatus  14  and a second electronic system carried by said apparatus  14 , both electronic systems communicating the one with the other by means of a wireless communication. As indicated, said control means could be integrated in an alternative embodiment, as a whole, in the collection apparatuses  14  themselves without the need for a separate local unit. Generally, at least one of said electronic systems will include a memory to register some historical data relative to the operation of the system as whole, including images and statistical information. In this way all the apparatuses  14  and all the vision devices (mobile and fixed cameras) are programmable and can dump all the statistical information and images of their activity. 
     It has likewise been provided the invention system to be arranged as a portable set, integrating transport means of its components. The system can use previously installed cameras for its implementation in a tennis court, for transmission of the matches or training studies. 
     A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other implementations are within the scope of the following claims.