Patent Publication Number: US-9427649-B2

Title: Mobile device which simulates player motion

Description:
FIELD OF THE INVENTION 
     The present invention is directed to a dynamic drive system and mobile device which simulates player motion in a realistic manner. In particular, the invention is directed to a mobile device which allows for sports practice, such as tackling, without the injuries associated with player-to-player contact. 
     BACKGROUND OF THE INVENTION 
     Many sports, including, but not limited to, football, soccer and rugby can pose serious health risks to the players. For example, a major concern facing football players today is the risk of concussive head injuries, which can lead to a variety of dangerous medical conditions. In order to reduce the occurrence of these types of injuries, teams are limiting contact during practices. In place of tackling each other during practice, most teams now use tackling drills which simplify tackling and break it into multiple steps which can be safely practiced. Limiting contact has been successful at reducing injuries during practice, but it has left no way to for players to practice tackling in a realistic game-relevant scenario. This is because current drills focus on pursuing a player and not finishing the tackle to the ground, or using a padded target, known as a tackling dummy, instead of a live player. Tackling dummies are used by almost all football teams but do not simulate a realistic tackle because they are static objects whereas an opposing player moves dynamically. There are some products on the market today that attempt to mobilize the tackling dummy; however, none of them accurately simulate the motion of a live player. 
     Although various methods to provide for increased safety have been attempted, these devices have not effectively protected athletes while simulating the motion of a live player. Making tackling safer through tackling suits or a padded practice area does not eliminate player-to-player contact and therefore does not adequately reduce injury risks. Hit shields (small, player-held pads) do not allow players to finish a tackle to the ground. Designing new drills using existing static dummies is not effective at producing unpredictable motion and does not create a game-like scenario. Shoulder tag, or “thud pace,” is not viable because, like hit shields, it neither eliminates player-to-player contact or creates a realistic game-like scenario. 
     In order to prevent injuries while allowing players to practice various movements (including, but not limited to, tackling, shooting and passing) without person-to-person contact or interaction, sports teams (including but not limited to, football, soccer and rugby teams) are in need of a dynamic and mobile device which replicates or simulates player motion as realistically as possible. With respect to football, an effective solution will allow teams to safely integrate the initiation, execution and finish of the movement, i.e., a tackle. 
     It would, therefore, be beneficial to provide a device or system which safely allows players to practice proper form in a game-relevant scenario. It would also be beneficial to provide a device or system which is a safe alternative to live play and which increases player safety and reduces the incidence of injuries while at the same time reinforcing proper form. 
     SUMMARY OF THE INVENTION 
     An embodiment of the invention is directed to a device and/or drive system which safely allows players to practice proper tackling form in a game-relevant scenario. 
     An embodiment of the invention is directed to a device and/or drive system which provides a safe alternative to live play and which increases player safety and reduces the incidence of injuries while at the same time reinforcing proper tackling form. 
     An embodiment of the invention is directed to a device and/or drive system which allows teams to safely integrate the pursuit, breakdown and finish of a tackle. 
     An embodiment of the invention is directed to a device and/or drive system which reflects the unpredictable motion of a live player. 
     An embodiment of the invention is directed to a device and/or drive system which is safe to tackle. 
     An embodiment of the invention is directed to a device and/or drive system which simulates realistic tackling. 
     An embodiment of the invention is directed to a device and/or drive system which works on a turf field in all playable weather conditions. 
     An embodiment of the invention is directed to a device and/or drive system which can be stored easily between practices and which is able to be reset quickly between each repetition of a drill. 
     An embodiment of the invention is directed to a device and/or drive system which is controlled using a wireless control system, allowing for device to be controlled remotely to facilitate maximum mobility and precision. 
     An embodiment is directed to a mobile device which simulates player motion. The device includes a ball drive, omni-directional members, at least one motor, a controller and pads. The ball drive provides rolling motion to the device. The omni-directional members are positioned proximate to and in engagement with the ball drive. The at least one motor is connected to at least one of the omni-directional members, the at least one motor providing the motive force to drive the at least one omni-directional members and the ball drive. The controller controls the motor. The pads are positioned on the device. The device accurately mimics the unpredictable motion of a live player to provide a safe alternative to live play to increase player safety and decrease the incidence of injuries during practice sessions. 
     An embodiment is directed to a self-righting mobile device which simulates player motion. The device includes a ball drive for providing rolling motion to the device. Omni-directional wheels are positioned proximate to and in engagement with the ball drive. At least one motor is connected to at least one of the omni-directional wheels. The at least one motor provides the motive force to drive the at least one omni-directional wheel and the ball drive. A controller controls the at least one motor. Pads are positioned on the device. The pads include high density foam around a base of the mobile device, the high density providing structure to self-right the mobile device. The pads also include low density foam in an upper portion of the mobile device used as the primary impact area. The device accurately mimics the unpredictable motion of a live player to provide a safe alternative to live play to increase player safety and decrease the incidence of injuries during practice sessions. 
     An embodiment is directed to a mobile device which simulates player motion which includes a ball drive to provide rolling motion to the device. Omni-directional wheels are positioned proximate to and in engagement with the ball drive. The omni-wheels engage the ball drive to power the ball drive in any direction, allowing for the mobile device to have a complete range of motion and allowing the mobile device to quickly change directions. At least one motor is connected to at least one of the omni-directional wheels, the at least one motor providing the motive force to drive the at least one omni-directional wheel and the ball drive. Adjustable casters cooperate with the ball drive. The casters apply pressure to the ball to keep the omni-wheels in contact with the ball drive at all times despite any eccentricity in the shape of the ball drive. A controller controls the at least one motor. Pads are positioned on the device. The device accurately mimics the unpredictable motion of a live player to provide a safe alternative to live play to increase player safety and decrease the incidence of injuries during practice sessions. 
     An embodiment is directed to a drive system for a mobile device. The drive system includes a ball drive for providing rolling motion to the device. Omni-directional members are positioned proximate to and in engagement with the ball drive. At least one motor is connected to at least one of the omni-directional members, wherein the at least one motor provides the motive force to drive the at least one omni-directional member and the ball drive. Adjustable casters cooperate with the ball drive to apply pressure to the ball to keep the omni-wheels in contact with the ball drive at all times despite any eccentricity in the shape of the ball drive. A controller is provided to control the at least one motor. 
     An embodiment is directed to a remote controlled mobile device which simulates player motion. The device includes a drive, at least one motor, a wireless controller and pads. The drive provides rolling motion to the device. The at least one motor is provides the motive force to power the drive. The wireless controller controls the motor. The pads are positioned on the device. The device accurately mimics the unpredictable motion of a live player to provide a safe alternative to live play to increase player safety and decrease the incidence of injuries during practice sessions. 
     Other features and advantages of the present invention will be apparent from the following more detailed description of the preferred embodiment, taken in conjunction with the accompanying drawings which illustrate, by way of example, the principles of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of an illustrative embodiment of a mobile device which simulates player motion according to the present invention. 
         FIG. 2  is a top, side perspective view of a lower portion of the mobile device of  FIG. 1  with portions of the padding removed. 
         FIG. 3  is a bottom, side perspective view of the lower portion of the mobile device shown in  FIG. 2 . 
         FIG. 4  is side view of the lower portion of the mobile device shown in  FIG. 2 . 
         FIG. 5  is a bottom, side perspective view of a lower portion of the mobile device of  FIG. 1 . 
         FIG. 6  is a cross section of the lower portion of the mobile device taken along line  6 - 6  of  FIG. 5 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The description of illustrative embodiments according to principles of the present invention is intended to be read in connection with the accompanying drawings, which are to be considered part of the entire written description. In the description of embodiments of the invention disclosed herein, any reference to direction or orientation is merely intended for convenience of description and is not intended in any way to limit the scope of the present invention. Relative terms such as “lower,” “upper,” “horizontal,” “vertical,” “above,” “below,” “up,” “down,” “top” and “bottom” as well as derivatives thereof (e.g., “horizontally,” “downwardly,” “upwardly,” etc.) should be construed to refer to the orientation as then described or as shown in the drawing under discussion. These relative terms are for convenience of description only and do not require that the apparatus be constructed or operated in a particular orientation unless explicitly indicated as such. Terms such as “attached,” “affixed,” “connected,” “coupled,” “interconnected,” and similar refer to a relationship wherein structures are secured or attached to one another either directly or indirectly through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise. Moreover, the features and benefits of the invention are illustrated by reference to the illustrative embodiments. Accordingly, the invention expressly should not be limited to such illustrative embodiments illustrating some possible non-limiting combination of features that may exist alone or in other combinations of features. In particular, while the detailed description provided herein is directed to applications related to football, the invention is not so limited. The invention can be used for any sport or activity which utilizes a dynamic mobile device to simulate player or participant&#39;s motion. 
     In general, the invention is directed to a remotely controlled, self-righting dummy or mobile device  10  and to a drive system which controls the same. As shown in the illustrative embodiment of  FIG. 1 , the device  10  has no external infrastructure in order to maximize mobility of the device and the safety of the players tackling it. The entire device  10 , with the exception of the bottom opening  12  ( FIGS. 5 and 6 ), is covered in padding  14 ,  16 . 
     Different types of motion of the device may be used, including, but not limited to, leaning, rolling, sliding and launching. In the illustrative embodiment shown in  FIGS. 1-6 , rolling motion is used because it is the most similar to the motion of a live player. The rolling motion is accomplished by a ball drive system  18  that will be more fully described below. The ball drive  18 , as best shown in  FIGS. 2 through 4 and 6 , accurately mimics the unpredictable motion of a live player by allowing instant acceleration in any direction. The ball drive  18  also does not have a large turning radius or edges that could injure a player. 
     In the illustrative embodiment shown, gravity is used to reset the device  10  after the device  10  is tackled to the ground. As the device  10  is self-righting, no additional motors or other devices are required for this function. In order to accomplish this method of reset, the geometry and weight distribution of the pads  14 ,  16  of the device  10  allows the device to be passively self-righting, allowing for the quick repetitions of drills that are required during practice. 
     At least one motor  20  is used as the motive force. The at least one motor is easily controllable and can provide ample force. Batteries  22  are used as the power source because they are portable and a safe power source that will work in all weather conditions. The device is controlled using a remote control system, allowing for maximum mobility and precision. 
     As shown in  FIG. 1 , the shape of the pad approximates a humanoid form figure in the illustrative embodiment. This gives players a realistic-looking target and reinforces safe tackling form by encouraging tackling at the correct height. 
     The device is driven by a uni-ball drive system  18 , although other drive systems such as, but not limited to, multi-ball drive systems and wheel based systems may be used without departing from the scope of the invention. The uni-ball drive system  18  shown includes a single large ball  24  that is driven by wheels  26 . In the embodiment, the wheels  26  are omni-directional wheels. The omni-directional wheels are able to power the ball  24  in any direction, allowing for a complete range of motion and allowing for the device to quickly and elegantly change directions. 
     In the illustrative embodiment, the wheels  26  have rubber rollers to increase the resistance to slipping between the ball  24  and the rollers  26 . Other materials can be used to decrease the slippage of the ball relative to the rollers. 
     In one embodiment, dual omni-wheels  26  are used to transmit forces tangent to their direction of motion to the ball  24 , while not inhibiting motion in all other directions. The omni-directional wheels may be of various sizes depending upon the size of the device and the type of ball drive used. For example, in the illustrative embodiment shown, the omni-wheels  26  may have a four inch diameter. 
     In the embodiment shown, a ten inch diameter medicine ball  24  with rubber coating is used as the drive ball. The ball is selected to optimize its weight, compressibility and friction coefficient with the turf to allow for optimal performance of the device  10 . The ball  24  sits within a two inch outside diameter base-ring  28  made from four 90-degree mandrel bent steel elbows  30 . Steel slugs  32  are welded between the elbows  30  with holes drilled and tapped for adjustable spring members  34  to secure the drive ball  24 . Four vertical rods  36  connect the base ring  28  to a plate  38 , on which the motors  20  and controls system are mounted. The spring members  34  are adjustable. In the embodiment shown, the spring members  34  are ball casters which are spring loaded to apply pressure to the ball  24 . Consequently, the ball casters  34  apply pressure to the ball  24  to keep the wheels  26  in contact with the ball  24  at all times despite any eccentricity in the ball&#39;s  24  shape. 
     As an example, drive balls  24  are not spherical, exhibiting variance in the diameter of up to  3 / 4  inches. In such applications, the adjustability of the ball casters  34  is beneficial. Rather than fixing the ball casters  34  against the ball  24 , tension springs are included in the ball casters  34  to allow the ball casters  34  to force the ball  24  toward the wheels  26 , causing the omni-wheels  26  to remain in contact with the ball  24  at all times despite eccentricity in the ball&#39;s shape. Consequently, the ability of the motors  20  to drive the ball  24  in any direction is not affected by the eccentricity of the ball  24 . 
     The ball  24  drive must have adequate traction on the field, particularly in wet conditions. Artificial turf has a higher coefficient of friction than natural grass and does not become as slippery when wet. An illustrative embodiment has a coefficient of friction with the turf of greater than 0.35, greater than 0.5 or greater than 0.7. 
     In one alternate embodiment, a basketball was chosen for the ball  24  drive. In other embodiments, a soccer ball, tether ball, medicine ball or water polo ball were used. Regardless of the ball  24  used, the weight of the ball  24  must be considered. A ball that is heavy relative to the overall weight of the device  10  causes ball&#39;s  24  moment of inertia relative to the device to be large, thereby causing the unwanted effect of having the pads  14 ,  16  rotate around the ball, rather than the ball  24  rotating within the pads  14 ,  16 . In such an embodiment, an inflatable ball  24  acts as a suspension system to maintain constant pressure on all contact points with the wheels  26 . In addition, the use of a ball  24  that deforms under pressure may result in smaller resistive forces that the motors  20  would need to overcome to drive the wheels  26  and the ball  24 . 
     In another alternate embodiment, a non-inflatable ball  24  is used. Such a ball greatly reduces the risks associated with irregularities in ball shape, and allows for a more rigid and robust drive system. Such balls may include, but are not limited to, rubber-coated nylon and HDPE balls. 
     In the illustrative embodiment show, four omni-directional wheels  26  are provided to control the ball. However, other numbers, sizes, positions and types of wheels may be provided without departing from the scope of the invention. The wheels  26  are configured such that the friction of omni-wheels  26  on the ball  24  is sufficient to transmit power from the motors  20  to the drive ball  24 . The four opposing omni-wheels  26  are made from aluminum with a rubber coating. In one illustrative embodiments, at least two of the omni-wheels are powered by 3 HP brushed DC motors  20  and bearings  40  on either side to prevent side-loading on the motors  20  during the impact of a tackle. The other two omni-directional wheels are free floating. A ring  42  holding brushes  44  against the equator of the ball  24  is attached to the vertical rods  36 . The brushes  44  engage the ball  24  to remove debris and loose turf blades, thereby preventing the debris and turf blades from interfering with the motors  20  and wheels  26 . A rubberized coating is applied to the upper plate of the upper plate  38  of frame  46  to eliminate all edges which may pose injury risks. 
     As mentioned previously, a 3 hp motor  20  is used in the embodiment shown. One such motor is the AmpFlow A28-150. The motor may be used with a radio transmitter  48  and receiver  50 . The transmitters  48  and receivers are able to wirelessly control one motor or two or more motors independently. Another motor which can be used in the AmpFlow A28-400 motor. When used with a single 12V battery, instant acceleration in all directions is achieved with a high degree of control. When used with a 24V battery, a maximum speed of 4 m/s was achieved. Regardless of the motor used, the motor  20  must be sized to fit within the frame  46 . 
     The speed and acceleration of the device is dependent upon many factors, including the size of the device, the type of ball drive, the size of the motor, etc. However, the device is designed to operate a minimum speed to 3 m/s and a minimum acceleration of 3 m/s 2 , with preferred speeds of 5 m/s or greater and preferred accelerations of 7 m/s 2 . The device is also designed to have less than a 10% loss of speed in all playable weather conditions. 
     The batteries  22  and battery system for the device must be of the type which are non-spillable and which are designed to be depleted and recharged many times. One such battery  22  is a lead-acid absorbed glass mat (AGM) battery. Such batteries  22  are deep cycle batteries which are designed to be completely drained and then recharged. These types of batteries  22  are non-spillable and can be used in any orientation because the electrolyte is held in glass fiber mats instead of floating freely. In one embodiment, a single 24-volt deep cycle battery can be used. Alternatively, other sizes of batteries  22  can be used, such as, but not limited to, two 12-volt batteries connected in series. An example of such a battery  22  is the MC-545 battery which weighs approximately 10 lbs and has a capacity of 14Ah. In one embodiment, full throttle for the device runs at approximately 50 amps, whereby two MC-545 batteries have the capacity to run at full throttle for around 17 minutes. Given that the device  10  will be going at full speed only a fraction of the time, this will provide sufficient capacity for the device  10  to last for a typical twenty minute tackling practice session. 
     The control system includes a transmitter  48 , antenna, receiver  50 , battery(ies)  22 , speed controllers and motor(s)  20 . In various embodiments, the type of motor  20  chosen dictates what type of control system could be used. In one illustrative embodiment, a radio frequency controller is used. In one illustrative embodiment, an AmpFlow Dual Motor Speed Controller is used. Such a controller can run at 24 volts and provide a 5 volt power output designed for wireless receivers. In one illustrative embodiment, a Planetary Rover Radio Control, which includes a pre-paired transmitter and receiver, can be connected directly into the speed controller. Once connected, the speed controller can be programmed for channel mixing, meaning that both motors are controlled via a single joystick. The single joystick allows the user to drive the device in any direction using an intuitive control system. The control system is designed to allow for a minimum travel distance of greater than 25 meters, with a preferred distance of greater than 100 meters, allowing the coach to operate the device from anywhere on the field. 
     As best shown in  FIG. 1 , the illustrative device  10  has high density foam  14  around the base  52  of the device  10  and lower density foam  16  for the upper portion  54  of the dummy or device  10 . Foams may be open-cell foams or closed-cell foams. Open-cell foams have gas pockets which are connected to one another, creating a lower density. In contrast, closed-cell foams have isolated gas pockets for a more rigid high-density shape. The high density, closed cell foam  14  around the base  52  is used to cushion against the frame  46  and provide protection for the electronics. The high density, closed cell foam  14  also provides structure for the self-righting nature of the dummy or device  10 . The low density, open-cell foam  16  for the upper portion  54  is used where the primary impact area will be. 
     One such representative high density foam  14  is sold under the brand of Minicell. In one embodiment, the high density foam  14  is provided in a bowl shape to encase the frame  46  and allow the device or dummy  10  to be self-righting. In one embodiment, the bowl shaped foam was constructed in two hemispheres that are connected around the frame or cage  46  via two straps. This modular design provides easy access to the electronics and drive system for maintenance, as the two halves can be swiftly disconnected and removed. 
     The upper portion  54  of the device  10  has a humanoid formed pad  16 , although other configurations can be used without departing from the scope of the invention. The upper portion  54  is configured to encourage safe tackling at the correct contact height by reflecting the proportions of an average player in an exaggerated manner. This foam  16  must be significantly softer on impact than the base foam  14 , yet rigid enough to hold its shape. While different types of foam  16  can be used, in one embodiment, a castable urethane foam is used. One such foam is the 3 lb/ft 3  FlexFoam-iT III foam. The shape of the upper portion can be cast in one piece or in two identical halves which are fused together. Based on player safety and other testing, the high density foam  14  has a density between 4 lb/ft 3  and 6 lb/ft 3  and the low density foam  16  has a density between 2 lb/ft 3  and 4 lb/ft 3 , although other densities of the high density foam and the low density foam may be used. 
     In the embodiment shown, a structural element  56  is provided for supporting the upper portion of foam  16 . The structural element  56  also provides a robust connection between the frame  46 , the upper portion  54  and the lower portion  52 . The structural element  56  is a rigid but slightly flexible cylinder or post made from high density polyurethane. However, in other embodiments, other materials such as a steel beam or pipe may be used for the structural element  56 . This material is highly durable, able to sustain a high force impact and is designed to restore itself to vertical after bending. The structural element  56  is bolted to the frame  46  of the device or dummy  10  and the two halves of the upper portion  54  are affixed thereto by glue or other known fasteners. However, other known methods of fastening the structural element  56  to the frame  46  and the upper portion  54  can be used without departing from the scope of the invention. 
     The foam  14 ,  16  may be painted and/or the foam may be coated in shrink film or other durable coating to provide a durable, uniform and aesthetically pleasing finish. 
     The device  10  is configured to be tall enough and heavy enough to provide a realistic visual target and realistic tackling resistance for players. In one embodiment, the device  10  has a weight of approximately 188 lbs and a height of approximately 63 inches. 
     In order for football practices to run efficiently, the device or dummy  10  must be able to be reset quickly between repetitions of a drill. This time was quantified as 4 seconds, based upon calculations from observing football practice. As previously described, the device  10  is constructed to have a weight distribution such that it is passively self-righting. Therefore, depending upon the weight of the components and foam  14 ,  16  used, additional weight may be added to the bottom portion to ensure that the device  10  is self-righted in 2 second, 3 seconds, 4 seconds or less than 5 seconds. In order to mitigate improper stabilization resulting in wobble when driving, weights may be added to the frame  46 , which will stabilize the device or dummy  10  and assist in self-righting. Widening the contact area with the field will also increase the device&#39;s  10  stability. Wobbling could also be mitigated by designing a suspension system that produces a restorative force for the device or dummy  10 . 
     The mobile device  10  and system simulates player motion as realistically as possible in order to practice various movements. In particular, the mobile device  10  and system allows for practice of various movements, such as tackling, with no need for person-to-person contact. The ball drive  24  and wheels  26  permit for motion of the device  10  in any direction along a field, thereby allowing players to practice proper tackling form in a simulated game-relevant scenario. The mobile device  10  and system provide a safe alternative to live play and will increase player safety and reduce the incidence of injuries while at the same time reinforcing proper form. 
     While the invention has been described with reference to an illustrative embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention as defined in the accompanying claims. In particular, it will be clear to those skilled in the art that the present invention may be embodied in other specific forms, structures, arrangements, proportions, sizes, and with other elements, materials, and components, without departing from the spirit or essential characteristics thereof One skilled in the art will appreciate that the invention may be used with many modifications of structure, arrangement, proportions, sizes, materials, and components and otherwise, used in the practice of the invention, which are particularly adapted to specific environments and operative requirements without departing from the principles of the present invention. As an example, the use of the mobile device on artificial surfaces may cause various of the components to be altered to prevent the rubber granules from interfering with the operation of the mobile device. The presently disclosed embodiments are therefore to be considered in all respects as illustrative and not restrictive.