Abstract:
An apparatus and system for roping practice incorporating an animal shaped head configured to simulate the movements of a live animal. The apparatus includes a swivel joint at the base of the head and a swivel joint where the neck joins to the body, and includes actuators that independently move the neck and head to a specified pitch and yaw angle. Additionally, the head may be attached to a rotor plate such that the head may rotate clockwise and counterclockwise. A programmable controller is included that may store actuator sequences that simulate real-time head and neck movements of live animals. The controller may be programmed by a control device that comprises one or more actuators such as joystick actuators, and the joystick actuators may directly control the animated head. The head may be removable and interchangeable, and may include removable horns to permit customization of the animated head for the physical characteristics and characteristic movements of a specific breed of animal.

Description:
BACKGROUND OF THE INVENTION  
       [0001]     1. Field of the Invention  
         [0002]     The present invention relates devices for to roping skills training, and more particularly relates to automated training devices for practicing roping skills.  
         [0003]     2. Description of the Related Art  
         [0004]     Roping is perhaps one of the oldest skills practiced by those engaged in cattle ranching operations. It remains a vital skill for those involved in handling cattle on the open range and in other settings, even in the most modern of ranching operations.  
         [0005]     Interest in developing roping skills and in roping competition has also steadily increased, particularly with the advent of rodeo and jackpot team roping, which has become one of the more popular forms of equestrian competition. Currently, over a hundred thousand team ropers compete each year for millions of dollars in prize money. These competitions are held throughout the West, Mid-West and Southern States.  
         [0006]     Team roping is a form of roping that involves one team member, the header, roping the head and the other team member, the heeler, roping the hind legs of the steer. Because of the highly competitive nature of this event, a high level of proficiency involving split second timing is required for the header. The high level of proficiency required can only be developed through a considerable amount of repetitive practice.  
         [0007]     Because there is only a limited number of practice animals and limited facilities for practicing, finding opportunities to practice roping skills on live animals is difficult. Furthermore, obtaining and maintaining a collection of livestock and a large arena with the required facilities is very costly. Also, it is very difficult to make efficient use of one&#39;s time in practicing with live animals. Accordingly, there has long been a need for alternative means for practice and training.  
         [0008]     Training devices of various kinds have been developed through the years to assist in the training of headers. Since most headers prefer to rope just the horns of the steer, a simple training device is a set of horns that can be affixed to a bale of hay or some other anchoring object. Another simple device may include a dummy steer head, with dimensions approximating a typical steer head and with horns of a fixed length. Such devices may be mounted on a mobile object such as an all terrain vehicle (ATV) or a simulated steer pulled behind a motor vehicle to provide for some in-motion training from horseback.  
         [0009]     Such devices provide an alternative means for practicing steer head roping without the use of live animals. However, even though existing devices may be mounted on mobile platforms, the existing devices do not closely simulate the movement of a live animal. In particular, live animals frequently move their heads up and down, from side to side, and also twist their heads especially when being pursued by a roper. In fact, particular head movement patterns are characteristic of certain breeds of steers. Consequently, head movements need to be considered and compensated for by a header, and therefore it is desirable that a steer roping practice device be capable of simulating the head movements in real-time.  
         [0010]     What is needed are an apparatus and system for roping training that animate movement of an animal shaped head in real-time. Beneficially, such an apparatus and system would be capable of imitating real-time head movements that characterize various breeds. Additionally, the invention would be capable of mounting various shapes of dummy steer heads and various shapes and lengths of horns.  
       SUMMARY OF THE INVENTION  
       [0011]     The present invention has been developed in response to the present state of the art, and in particular, in response to the problems and needs in the art that have not yet been fully solved by currently available roping trainers. Accordingly, the present invention has been developed to provide an apparatus and system for roping practice that overcome many or all of the above-discussed shortcomings in the art.  
         [0012]     The apparatus, in one embodiment, is configured to animate a simulated animal head by swiveling the head about a point corresponding to the attachment point of the neck to the head of a live animal. The apparatus is configured to move the head to a specified pitch angle, yaw angle, and head rotation, thereby simulating the head movements of a live animal. A programmable control unit issues commands to actuators that move the head. In one embodiment the control unit may store one or more sequences of actuator commands and the timing thereof, that create characteristic real-time head movements that may correspond to a selected species of animal.  
         [0013]     The apparatus is further configured, in one embodiment, to animate the head by interposing a neck member between the animal head and the frame, and swiveling the neck member about a point corresponding to the attachment point of the neck to the body of a live animal. The apparatus is configured to move the neck member to a specified pitch and yaw angle, thereby simulating the movement of the neck and head of a live animal. A programmable control unit issues commands to actuators that move the neck. In one embodiment the control unit may store one or more sequences of actuator commands and the timing thereof, that create characteristic head and neck movements that may correspond to a selected brand or species of animal.  
         [0014]     In a further embodiment, the apparatus may be configured to include removable and interchangeable heads such that the physical characteristics of a live animal as well as the characteristic movements may be simulated. Removable and interchangeable horns may be attached to the head, providing the user with a way to configure the apparatus to simulate animals with long and short horns, and with different horn shapes.  
         [0015]     A system of the present invention is also presented for roping practice. The system may be embodied with a frame, an animated animal head attached to the frame, and an interface to the animated animal head wherewith the controller memory may be programmed, or with which the animal head may be directly controlled. In one embodiment the system may include a mobile frame whereby the animated head movement is combined with forward motion of the system to provide for in-motion training from horseback. In another embodiment the frame may include a steer shaped body.  
         [0016]     Reference throughout this specification to features, advantages, or similar language does not imply that all of the features and advantages that may be realized with the present invention should be or are in any single embodiment of the invention. Rather, language referring to the features and advantages is understood to mean that a specific feature, advantage, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, discussion of the features and advantages, and similar language, throughout this specification may, but do not necessarily, refer to the same embodiment.  
         [0017]     Furthermore, the described features, advantages, and characteristics of the invention may be combined in any suitable manner in one or more embodiments. One skilled in the relevant art will recognize that the invention can be practiced without one or more of the specific features or advantages of a particular embodiment. In other instances, additional features and advantages may be recognized in certain embodiments that may not be present in all embodiments of the invention.  
         [0018]     These features and advantages of the present invention will become more fully apparent from the following description and appended claims, or may be learned by the practice of the invention as set forth hereinafter.  
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0019]     In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings, in which:  
         [0020]      FIG. 1  is a side view illustration depicting one embodiment of a roping practice system of the present invention;  
         [0021]      FIG. 2  is a side view illustration depicting one embodiment of a head actuation assembly of the present invention;  
         [0022]      FIG. 3  is a top view illustration of the head actuation assembly of  FIG. 2 ;  
         [0023]      FIG. 4  is a front view illustration of the head actuation assembly of  FIGS. 2 and 3 ;  
         [0024]      FIG. 5  is a front view illustration depicting one embodiment of a modular head of the present invention;  
         [0025]      FIG. 6  is a top view illustration of one embodiment of a control device in accordance with the present invention; and  
         [0026]      FIG. 7  is a schematic flow chart illustrating one embodiment of a programming method in accordance with the present invention.  
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0027]     Reference throughout this specification to “one embodiment,” “an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment,” “in an embodiment,” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.  
         [0028]     Furthermore, the described features, structures, or characteristics of the invention may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of mechanical linkages, actuator types and configurations, etc., to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.  
         [0029]      FIG. 1  is a side view illustration depicting one embodiment of a roping practice system  100  of the present invention. The depicted roping practice system  100  includes a frame  110 , an animal shaped head  120 , a neck member  130 , a neck swivel joint  140 , one or more neck actuators  150 , a controller  160 , a controller interface  170 , and a control device  180 . The head  120  may include a mechanism to mount interchangeable horns  
         [0030]     The frame  110  supports the weight of an animated head mechanism and provides stability for the system as the head  120  moves. The frame  110  may be connected to a base or platform (not shown). In the depicted embodiment the frame  110  is formed in the shape of a steer body. In another embodiment, the frame  110  may include features for attachment to a vehicle. In one embodiment, the frame  110  includes tines that may be anchored into bales of hay or straw. The neck member  130  is shown attached to the frame  110  with a neck swivel joint  140  such as a ball and socket joint. The neck member  130  and neck actuators  150  may be covered with a pad that simulates the shape of an animal neck and protects the mechanism.  
         [0031]     The neck member  130  is moved in an arc about the neck swivel joint  140  by one or more neck actuators  150  that are connected at one end to the frame  110  and at the other end to the neck member  130 . As one of the neck actuators  150  extends or contracts in response to controller  160  commands, the neck member  130  moves in an arc about the neck swivel joint  140 . For example, as a neck actuator  150  attached directly below the neck swivel joint  140  is extended, the head moves upward in an arc about the neck swivel joint  140 . As one or more neck actuators  150  extend and contract, forces are created that move the head to a selected pitch and yaw angle within the limits of the neck swivel joint  140  movement. In one embodiment the length of the neck member  130  is adjustable.  
         [0032]     The neck member  130  is attached to the head  120  with a head swiveljoint. In the depicted embodiment, the head swivel joint and head actuators are located within the head  120  and are not shown in this view. The head  120  is moved in an arc about the head swivel joint by one or more head actuators that are connected at one end to the neck member  130 , and at the other end to the head  120 . As a head actuator expands or contracts as commanded by the controller  160 , the head  120  moves in an arc about the head swivel joint. The head  120  may thus attain a selected pitch or yaw within the limits of the head swivel joint movement. In one embodiment, the head  120  is attached to the head swiveljoint by a rotational bearing such that the head  120  may rotate axially either clockwise and counterclockwise. A rotor actuator (not shown) provides torque to rotate the head  120  under the control of the controller  160 .  
         [0033]     In one embodiment, the head  120  is removable, and may be replaced by an interchangeable head from a different breed or even a different species of animal. For example, by replacing a bovine shaped head with an equine shaped head and adjusting the length of the neck member  130 , the roping practice system  100  may be utilized to practice roping horses. In one embodiment, a bovine shaped head  120  includes mechanisms to attach horns  190  of different lengths and configurations. The system may thus be configured to imitate physical characteristics of various breeds of steers.  
         [0034]     The controller  160  provides control of the neck actuators  140  and head actuators (not shown) which move the neck member  130  and the head  120  about their respective swivel joints. Additionally, in certain embodiments the controller may provide control of a rotor actuator (not shown) that axially rotates the head  120 . In one embodiment, the controller is equipped with a memory function that provides storage of actuator control sequences that create characteristic movements of the head  120 .  
         [0035]     In one embodiment, the controller  160  is programmed with command sequences received via the controller interface  170 . In the depicted embodiment a control device  180  connected directly to the controller interface  170  permits the user to program the controller  160  with actuator control sequences. In other embodiments, the controller interface  170  may be a wireless interface that enables communication with a wireless controller such as remote control device.  
         [0036]     In one embodiment, the control device  180  may directly control the actuator sequences that move the head  120  and neck member  130 . By controlling the head and neck movements, the roping practice system  100  may be configured to imitate the movements of various breeds of steers or even other animal species. Additionally, the roping practice system  100  may be configured for competition between a contestant controlling the animated head and a contestant roping the head.  
         [0037]      FIGS. 2 through 4  are illustrations depicting one embodiment of a head actuation assembly  200  of the present invention.  FIG. 2  depicts a side view illustration of the animated head mechanism  200  while  FIGS. 3 and 4  depict, respectively, a top view illustration and a front view illustration. The depicted head actuation mechanism  200  includes a frame  110 , a neck member  130 , a neck swivel joint  140 , one or more neck actuators  150 , a controller  160 , a head swivel joint  210 , a head swivel plate  220 , one or more head actuators  230 , a rotor plate  240 , a rotor bearing  250 , a rotor actuator  260 , a belt  270 , and a rotor actuator shaft  280 . To promote clarity, the animal shaped head  120 , which frames to the rotor plate  240 , is not shown in  FIGS. 2 through 4 .  
         [0038]     The neck member  130  is attached to the frame  110  by a neck swivel joint  140 . The neck swivel joint  140  permits movement of the head attachment end of the neck member  130  in an arc about the neck swivel joint  140  in the vertical and horizontal planes. One or more neck actuators  150  are attached at one end to the neck member  130  and are attached at the other end to the frame  110 . Extension or contraction of a neck actuator  150  moves the neck member  130  in an arc about the neck swivel joint  140 . In one embodiment the neck actuators  150  are hydraulic actuators. In another embodiment, the neck actuators  150  are pneumatic actuators while in another embodiment, the neck actuators  150  are electric actuators. The electric actuators may comprise soloroids or DC motors and may be powered by a battery or with a transformer configured to be connected to an AC power source.  
         [0039]     In one embodiment, a pair of neck actuators  150  (shown in  FIG. 3 ) attach at one end to the neck member  130  and at the other end to the frame  110  inline with the neck swivel joint  140  along a horizontal plane. Extension of an actuator  150  coupled with the contraction of the opposing actuator  150  moves the head attachment end of the neck member  130  through an arc about the neck swivel joint  140  in the horizontal plane and produces a change in yaw angle between the neck member  130  and a vertical plane passing through the neck swivel joint  140 .  
         [0040]     In one embodiment, a neck actuator  150  (shown in  FIG. 2 ) attaches at one end to the neck member  130  and at the other end to the frame  110 , and is located inline with the neck swivel joint  140  along a vertical plane. Extension and contraction of the neck actuator  150  moves the head attachment end of the neck member  130  through an arc about the neck swivel joint  140  in the vertical plane and produces a change in pitch angle between the neck member  130  and the horizontal plane passing through the swivel joint  140 .  
         [0041]     The head swivel plate  220  is attached to the neck member  130  by the head swivel joint  210 . The head swivel joint  210  permits movement of the head swivel plate  220  through an arc about the head swivel joint  210  in the vertical and horizontal planes. One or more head actuators  230  are attached at one end to the neck member  130  and at the other end to the head swivel plate  220 . Extension of a head actuator  230  coupled with contraction of an opposing head actuator  230  moves the neck swivel plate  220  in an arc about the neck swivel joint  210 .  
         [0042]     In one embodiment, four head actuators  150  attach at one end to the neck member  130  and the head actuators  150  are attached at equal angles about the axis of the neck member  130 . The head actuators  150  also attach at the other end to the head swivel plate  220  at equal angles about the axis of the head swivel plate  220 . Extension of a head actuator  150  and compression of an opposing head actuator  150  moves the head swivel plate  220  in an arc about the head swivel joint  210  and changes the pitch and yaw angles between axis of the neck member  130  and the axis of the head swivel plate  220 .  
         [0043]     In one embodiment, the rotor plate  240  is attached to the head swivel plate  220  by the rotor bearing  250  such that the rotor plate  240  may rotate freely about the center of the head swivel plate  220 . The rotor plate  240  periphery may be grooved such that a belt  270  (shown in  FIG. 4 ) may be retained within the groove. The rotor actuator  260  is a rotary actuator that translates a controller command into movement of the rotor actuator shaft  280  through a selected rotation angle. A sequence of controller commands may cause the rotor actuator shaft  280  to complete one or more revolutions in the clockwise or counterclockwise direction.  
         [0044]     The rotor actuator shaft  280  contacts the belt  270  such that the rotary motion of the rotor actuator shaft  280  is translated to tension in the belt  270 . The tension of the belt  270  creates a torque on rotor plate  240  and thus turns the rotor plate  240  about the rotor bearing  250 . The rotor actuator shaft  280  and the mating belt  270  may be provided with matching teeth to facilitate transmission of motion between the rotor actuator shaft  280  and the belt  270 .  
         [0045]     In one embodiment, the rotor plate  240  contains a gear pattern about its periphery and the rotor actuator shaft  280  contains a matching gear pattern that couples rotation of the rotor actuator shaft  280  to the rotor plate  240 , causing rotation of the rotor plate  240  about the rotor bearing  250 . The controller  160  issues commands that cause clockwise and counterclockwise rotation of the rotor actuator shaft  280 . The rotation is transmitted to the rotor plate  240 , which rotates the attached animal shaped head  120 .  
         [0046]      FIG. 5  is a diagram illustrating a front view of one embodiment of an animated head  500  of the present invention. The depicted embodiment of the animated head  500  includes a frame  110 , an animal shaped head  120 , and a set of horns  190 . Head rotation  510 , vertical head movement  520 , and horizontal head movement  530  are illustrated with arrows. The animated head  500  provides superior head animation that improves the quality and realism of roping practice.  
         [0047]     Head rotation  510  may be provided by actuating the rotor actuator  260 , rotating the animal shaped head  120  about the axis of the rotor plate  240  in either a clockwise or a counterclockwise direction. The degree of rotation is programmatically controlled by a sequence of actuator commands stored in the controller  160  or directly controlled by input from the control device  180 .  
         [0048]     Horizontal head movement  520  may be provided by actuating one or more neck actuators  150 , moving the animal shaped head  120  around the neck swiveljoint  140  in a horizontal arc with radius defined by the length of the neck member  130 . Additionally, horizontal head movement  520  may be provided by actuating one or more head actuators  230 , moving the animal shaped head  120  around the head swivel joint  210  in a horizontal arc with radius defined by the distance between the head swivel joint  210  and the point of measurement on the animal shaped head  120 . The degree of horizontal head movement  520  is programmatically controlled by a sequence of actuator commands stored in the controller  160  or directly controlled by input from the control device  180 .  
         [0049]     Vertical head movement  530  may be provided by actuating one or more neck actuators  150 , moving the head  120  around the neck swivel joint  140  in a vertical arc with radius defined by the length of the neck member  130 . Additionally, vertical head movement  530  may be provided by actuating one or more head actuators  230 , moving the head  120  around the head swivel joint  210  in a vertical arc with radius defined by the distance between the head swivel joint  210  and the point of measurement on the head  120 . The degree of vertical head movement  530  is programmatically controlled by a sequence of actuator commands stored in the controller  160  or directly controlled by input from the control device  180 .  
         [0050]     Head rotation  510 , vertical head movement  520  about the neck swivel joint  140 , vertical head movement  520  about the head swiveljoint  210 , horizontal head movement  530  about the neck swivel joint  140 , and horizontal head movement  530  about the head swivel joint  210  may be individually or simultaneously applied. The motions of the animated head may be selected to closely approximate movements of a live animal, permitting a roper to gain valuable experience in an efficient manner.  
         [0051]      FIG. 6  is a top view illustration depicting one embodiment of a control device  600  of the present invention. As depicted, the control device  600  includes an on/off button  610 , a program mode button  620 , a head manipulator  630 , a neck manipulator  640 , a head rotator  650 , a speed selector  660 , a review button  670 , and a next button  680 . The control device  600  is a particular example of the control device  180  depicted in  FIG. 1  and may be in electrical communication with the controller  160  or in wireless communication with the controller  160 .  
         [0052]     The control device  600  communicates with a controller of a mechanical animal and enables a user to move the head and neck of the mechanical animal and store such movements as programmed sequences. The on/off button  610  enables a user to turn the control device  600  on or off. The on/off button may also enable a user to activate or deactivate the mechanical animal. The program mode button  620  toggles operation between a direct control mode and a program mode. While in the direct control mode, the user may directly manipulate the mechanical animal with the control device  600  or activate programmed sequences.  
         [0053]     The control elements  630 ,  640 ,  650 , and  660  may operate in program mode or in direct control mode and enable a user to move the head and neck of the mechanical animal and store such movements as programmed sequences. The head manipulator  630 , neck manipulator  640 , and head rotator  650  enable a user to move the head and neck to specific positions or orientations. The speed selector  660  enables a user to speed up or slow down the pace of movement.  
         [0054]     The review button  670  facilitates reviewing the current program while in program mode or a selected program while in direct control mode. The next button  680  records a program step (i.e. orientation of the head and neck) in program mode. In direct control mode, the next button facilitates scrolling through program sequences stored in memory. In one embodiment, the control device  600  is equipped with a display screen that displays a program sequence name.  
         [0055]      FIG. 7  is a schematic flow chart illustrating one embodiment of a programming method  700  in accordance with the present invention. As depicted, the programming method  700  is collection of event driven actions that enable a user to capture and review animations sequences created with a control device such as the control device  600 . The programming method  700  may be conducted independent of, or conjunction with the control device  600  and the controller  160 .  
         [0056]     The method  700  starts after the control device  600  or the like is attached to the controller interface  170  and the program mode button is depressed indicating a desire to program the mechanical animal. Subsequently, the user positions the head and neck by manipulating one or more control elements associated with the control device  180 . A positioning event  710  is detected by the controller which moves  715  the head and neck to a selected position and orientation in response to the manipulations of the control elements.  
         [0057]     While orienting the head and neck the user may adjust a speed control to change the pace of movement and responsiveness to manipulation of the control elements. In response to such a change, the speed adjustment event  720  is detected by the controller which adjusts  725  the speed of movement of the head and neck by the actuators.  
         [0058]     While orienting the head and neck the user may desire to review the current program to ascertain if the current orientation and animation speed are satisfactory within the context of the current program sequence. The user may depress the review button  670  or similar interface element which is detected as a review sequence event  730 . In response to event  730 , the controller animates  735  the head with the current program sequence including the current orientation.  
         [0059]     The user may continue adjusting the current head and neck orientation and animation speed in the manner described above. Once the user is satisfied with the current settings, the user may depress the next button  680  or similar interface element to invoke the next position event  740 . In response to the next position event  740 , the controller captures  745  the current head and neck orientation as well as animation speed and appends such information onto the current program. In one embodiment, the pitch angle, yaw angle, and rotation of the neck member  130  and the head  120  are captured by storing the neck actuator  150 , head actuator  230 , and rotor actuator  260  positions into a memory element in the controller  160 .  
         [0060]     To end a programming session the user may deselect the program mode button  620  or perform a similar action to invoke the training complete event  750 . In response to the training complete event  750 , the controller saves  760  the current program sequence for subsequent use and the programming method ends  770 .  
         [0061]     The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.