EP3831453A1 - Dispositif et procédé permettant de mettre en place au moins une quille de bowling - Google Patents

Dispositif et procédé permettant de mettre en place au moins une quille de bowling Download PDF

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Publication number
EP3831453A1
EP3831453A1 EP20192509.6A EP20192509A EP3831453A1 EP 3831453 A1 EP3831453 A1 EP 3831453A1 EP 20192509 A EP20192509 A EP 20192509A EP 3831453 A1 EP3831453 A1 EP 3831453A1
Authority
EP
European Patent Office
Prior art keywords
bowling
robot arm
pin
bowling pin
ball
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20192509.6A
Other languages
German (de)
English (en)
Other versions
EP3831453B1 (fr
EP3831453C0 (fr
Inventor
Sven Hohnecker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pin Marketing SL
Original Assignee
Pin Marketing SL
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Filing date
Publication date
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Publication of EP3831453A1 publication Critical patent/EP3831453A1/fr
Application granted granted Critical
Publication of EP3831453B1 publication Critical patent/EP3831453B1/fr
Publication of EP3831453C0 publication Critical patent/EP3831453C0/fr
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Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
    • A63D5/00—Accessories for bowling-alleys or table alleys
    • A63D5/08—Arrangements for setting-up or taking away pins
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
    • A63D5/00—Accessories for bowling-alleys or table alleys
    • A63D5/02—Apparatus for trapping or lifting the balls; Separate devices for returning the balls
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63D—BOWLING GAMES, e.g. SKITTLES, BOCCE OR BOWLS; INSTALLATIONS THEREFOR; BAGATELLE OR SIMILAR GAMES; BILLIARDS
    • A63D5/00—Accessories for bowling-alleys or table alleys
    • A63D5/10—Apparatus for cleaning balls, pins, or alleys

Definitions

  • the invention relates to a device, a bowling system and a method for setting up bowling pins, a robot arm being designed to set the bowling pins to a predetermined position.
  • Such devices are sometimes called pinsetters and should be able to restore, for example, a plurality of tapered bowling pins upright to a predetermined position in less than 30 seconds.
  • the publication WO 2012/091550 A1 describes a device for setting up bowling pins, the bowling pins being attached to pulleys by means of ropes. Detection means are also provided which are able to detect a movement of the bowling pins.
  • the pamphlet U.S. 6,027,411 A discloses a device for setting up bowling pins which can be swept from the bowling lane by means of a slide. The bowling pins are put back on the bowling alley by means of a comparatively complicated mechanism.
  • the object of the invention is to at least partially overcome the problems of the prior art.
  • the proposed device for setting up bowling pins is typically characterized by its compact, energy-saving and light construction. While complex and large machines were previously required for setting up bowling pins, the proposed device can manage with only one object recognition device, a robot arm and a control unit.
  • the bowling pins can be set up in the predetermined target position with great precision by means of the robot arm.
  • ten bowling pins are arranged in an isosceles or equilateral triangle in a bowling game, with one point of the triangle pointing in the direction of the bowler.
  • the robot arm is used to set up the bowling pins, great flexibility can be achieved when setting up the bowling pins.
  • a plurality of bowling pins can be placed in a predetermined arrangement on the running lane become.
  • the bowling pins can be arranged in a wide variety of geometric shapes. For example, nine bowling pins can be set up in a square. Alternatively, the bowling pins can also be set up along a line, for example.
  • the predetermined arrangement can be a complete basic list of, for example, ten in a triangle or nine bowling pins in a square, or a partial list of these arrangements.
  • the bowling pins can be arranged with the proposed device deviating from the triangular shape or square shape on the running track.
  • the number of bowling pins can be 9 or 10 or also greater than 10 or less than 9. The proposed device thus enables arbitrarily predetermined target positions and arrangements of the bowling pins on the running track, whereby even new types of play can be designed that were not possible with the previous installation devices.
  • the area of the running lane where the bowling pins are set up is often referred to as the pin deck.
  • the predetermined position of the bowling pins or the predetermined arrangement of the bowling pins or the number of bowling pins can be specified, for example, by a user via an input device which is connected to the control unit. For example, if a user wants to practice his throwing technique with certain arrangements of bowling pins, he can enter or change the predetermined position of the bowling pins or the arrangement of the bowling pins or the number of bowling pins via the input means.
  • the proposed device enables the bowling pins to be set up quickly, i.e. the device ensures that the pins can be set up within 30 seconds or less.
  • the robot arm weighs at most 200 kg or at most 175 kg or at most 150 kg.
  • Bowling pins in the sense of this document are to be understood as conical, cylindrical and / or rod-shaped objects that can typically be knocked over by a user with a ball.
  • the term “bowling pin” used therefore includes, inter alia, “pin”, “bowling pin”, “bowling pin” and “bowling pin”.
  • the bowling ball is also often called a ball or ball designated. When a bowling pin is in the horizontal orientation, it can also be referred to as “ fallen bowling pin”. When a bowling pin is in the vertical orientation, it can be referred to as a “stalled bowling pin”.
  • a bowling alley typically includes an approach, a foul line, a running lane, a pin deck, a pit and / or at least one gutter.
  • the approach is the area in which the players move in order to carry out their throw.
  • the foul line is usually a black line that delimits the run-up and the running track.
  • the foul line is often connected to a control unit by a light barrier. If the light barrier is triggered, an F (foul) is entered for the throw and the pins that have fallen do not count.
  • the running track is usually the 60-foot long area between the inrun and the pin deck. This area is normally not entered by the players. The ball passes through this area on its way to the pins on the pin deck.
  • the running surface is usually oiled in areas, primarily to protect the track surface.
  • the pin deck is the area in which the bowling pins are located or in which fallen bowling pins are set up again.
  • the pit adjoins the area of the pin deck in the longitudinal direction.
  • the pit is the area into which the fallen bowling pins are pushed by a pusher or the bowling pins are pushed into by the ball.
  • the at least one channel extends to the side (left or right) next to the running track and the pin deck.
  • the object recognition device is designed to detect a position of the bowling pin.
  • the detected position includes a position of a bowling pin that has the vertical orientation.
  • the exact position of a bowling pin that has the horizontal orientation may not need to be recorded.
  • the position of the bowling pin, which has the horizontal orientation can also be detected by the object detection device.
  • Position of the bowling pin can be, for example, a projection of a position of the center of gravity of the bowling pin onto a flat surface, such as a running lane or bowling alley or pit (see below). While the orientation of the bowling pin provides information about whether the bowling pin is standing or lying, the position of the bowling pin indicates where the bowling pin is on the track or in the pit (see below).
  • the control unit can be designed to control the robot arm depending on the detected position of the bowling pin.
  • the detected position can include the predetermined target position and / or an actual position that is horizontally displaced with respect to the target position.
  • a bowler or user has two throws to knock over a number of bowling pins (mostly ten).
  • a bowling pin may move from its original position on the first throw without falling. Before the second throw, however, the bowling pin should be where it was pushed during the first throw. Because the control unit is able to control the robot arm depending on the detected position of the bowling pin, it can be ensured that the bowling pin is placed exactly there with the second throw or stops exactly where it was moved after the first throw.
  • Current pinsetters such as rope pinsetters, do not achieve this or do this in a satisfactory manner or only within a relatively large tolerance range.
  • the device can also have a slide.
  • the slide can be designed to push a large number of bowling pins, which are located, for example, on the running track, into a pit, for example a gutter.
  • bowling pins are usually pushed off the running track (the pin deck) and into the pit by means of a slider according to the prior art.
  • pliers usually move down and grab the remaining bowling pins. The pliers pull the bowling pins up and the slider pushes the fallen bowling pins that are still on the lane back into the pit. Then the bowling pins are placed on the running track or on the pin deck by the tongs and the empty tongs move up again.
  • the tongs move also go back down, but don't grab the bowling pins but go back up.
  • the slider then pushes the last bowling pins from the second throw back into the pit. If there is a lying bowling pin on the pin deck or in the gutter, it is pushed into the pit by the slide. If there is no bowling pin on the pin deck or in the gutter, the second throw can take place immediately.
  • all bowling pins on the running track that is to say both fallen and standing bowling pins, are pushed into the pit by means of the slide after the first throw.
  • the control unit is designed to control the slider and the robot arm in such a way that, when a first number of bowling pins have the horizontal orientation, the slider pushes all bowling pins including a second number of vertically oriented bowling pins into the pit.
  • the robot arm can, for example, only pick up the second number of vertically oriented bowling pins from the pit and set it up at the predetermined target position or the position detected by the object recognition device. As a rule, it does not matter which bowling pins are picked up from the pit by the robot arm and placed back on the running track (on the pin deck); only the number of bowling pins that remained after the first throw should be set up again.
  • the aforementioned slide can also be dispensed with.
  • the control unit can control the robot arm in such a way that the robot arm picks up the bowling pins in the horizontal orientation and places them in the pit, while the robot arm leaves the bowling pins in the vertical orientation.
  • the aforementioned control of the robot arm can in particular take place after the first throw of the bowling ball and before the second throw of the bowling ball.
  • the robot arm can set up the bowling pins lying in the pit and the fallen bowling pins in the predetermined positions after the second throw and thereby leave the bowling pins that remained in the predetermined target position after the second throw. This can reduce the time it takes to set up the bowling pins after the second throw.
  • the object recognition device can be designed to recognize a specific bowling pin from a group of bowling pins.
  • the particular bowling pin preferably includes a detection feature.
  • the detection feature can be, for example, a specific color, choice of material or shape of the bowling pin. It is only important that the object recognition device can recognize the particular bowling pin via the detection feature. For example, a “golden bowling pin” can be set up in a predetermined position, for example facing the bowling player in a foremost position. The users or bowlers can then attempt to be the first to knock over the golden bowling pin in a competitive situation.
  • the object recognition device is designed to detect a bowling ball and a position of the bowling ball.
  • the object recognition device can also be used to detect the robot arm and / or a position of the robot arm and / or an orientation of the robot arm and / or a pivot position the robot arm be designed.
  • the object recognition device can be designed to detect the running track, the pit, a ramp (see below) and / or the slide and / or a person and / or an animal.
  • the object detection device is able to detect objects on the bowling alley and to detect whether the object is a bowling pin or a bowling ball or not.
  • the control unit can be designed to switch off the robot arm.
  • the object recognition device can be designed to recognize people or animals.
  • the control unit can then be designed to switch off the robot arm when a person or animal is within a safe distance from the robot arm. This safety measure can prevent, for example, service personnel and the robot arm from interfering with one another.
  • the at least one robot arm can be designed to grip and hold the bowling ball and to move the bowling ball to a predetermined target position.
  • a control unit can be designed to control the robot arm depending on the detected position of the bowling ball.
  • the object recognition device is arranged on the robot arm and / or above and / or next to the upper arm.
  • the object recognition device can also be arranged on, above, behind, in front of or next to the pin deck or the running track.
  • the exact choice of the position of the object recognition device typically depends on the special circumstances of the respective bowling alley or running lane.
  • control unit is designed to control the robot arm depending on a current orientation and / or current position of the robot arm.
  • the robot arm can have at least one rest position and one gripping position.
  • the rest position of the robot arm should be designed in such a way that the robot arm does not interfere with a throw by a bowling player or user in the rest position.
  • the control unit can control the robot arm in such a way that the robot arm moves into a different position.
  • the object recognition device can be designed to be movable. If the robot arm blocks the view of the object recognition device, the object recognition device can be moved to a position in which the view is enabled.
  • the object recognition device can be arranged on a displacement arrangement. The object recognition device can be moved from a rest position into at least one measuring position and back. The displacement arrangement can be connected to the control unit and can be / can be controlled by this.
  • the robot arm usually has a gripping device for gripping and holding the bowling pin.
  • the gripping device is, for example, a mechanical, a pneumatic and / or a magnetic gripping device.
  • the use of a magnetic gripping device has the advantage that precise gripping is not necessary. Furthermore, with a magnetic gripping device, gripping at different gripping points of the bowling pin is usually possible.
  • the bowling pin should have at least one magnet and / or at least one ferromagnetic material such as iron, cobalt or nickel.
  • a mechanical or pneumatic gripping device has the advantage that the bowling pin can be gripped precisely, so that the bowling pin can be precisely set up in the predetermined position.
  • a combination of a magnetic, mechanical and / or pneumatic gripping device is also conceivable.
  • the gripping device can have a sensor which is designed to detect that the bowling pin and / or bowling ball are held.
  • the sensor of the gripping device can in turn be connected to the control unit.
  • the robot arm can only be moved or rotated further by a corresponding activation of the control unit when the sensor indicates that the bowling pin or the bowling ball is being held by the gripping device of the robot arm.
  • the robot arm or the gripping device is designed to be non-destructive and demountable for exchanging the robot arm / the gripping device for another robot arm / another gripping device. If the robot arm or a part, such as the gripping device, of the robot arm is broken, the robot arm can be completely or partially dismantled and the robot arm or the corresponding part can be replaced.
  • the device can also include at least two robot arms. If one of the robot arms should break during operation, bowling pins can still be set up with the other robot arm or the other robot arms. In addition, a speed of setting up the bowling pins can be increased if there are two or more robot arms.
  • the movements of the robot arms and / or the slide are synchronized or coordinated with one another by the control unit. In this way, for example, collisions between the robot arms can be prevented.
  • the object recognition device includes, for example, a sensor, such as a photo sensor, or a laser scanner, such as a 3D laser scanner, or a pushbutton switch or a camera or a combination of several of the elements mentioned for recognizing the at least one bowling pin and / or the bowling ball and / or the robot arm and / or the pit and / or the slide and / or the ramp and / or a person (see below).
  • the object recognition device preferably allows 3D object recognition of the respective objects.
  • several sensors, laser scanners and / or photo sensors and / or cameras and / or a combination of one or more 3D laser scanners, cameras and photo sensors can also be used.
  • the control unit can be designed to process or edit signals or data from a sensor mentioned above or from several of the sensors mentioned above (laser scanner, 3D laser scanner, push button switch, camera, photo sensor or a combination) of the object recognition device.
  • a sensor mentioned above laser scanner, 3D laser scanner, push button switch, camera, photo sensor or a combination
  • the robot arm is designed to grip and / or set up bowling pins across lanes (across bowling lanes). In according to one embodiment, the robot arm is designed to grip bowling pins located on at least two bowling lanes and / or to set up bowling pins on at least two different bowling lanes. In particular, the robot arm can grip and hold bowling pins one after the other or alternately - that is, not several bowling pins at the same time - from different bowling lanes and place them on different bowling lanes.
  • located here generally includes standing bowling pins and lying bowling pins.
  • the robot arm can be dimensioned and / or positioned in such a way that it can grip bowling pins from different bowling lanes and / or set up on different lanes.
  • the person skilled in the art recognizes that the specific dimension and / or position of the robot arm depends on the dimensions of the respective bowling lanes.
  • the robot arm can hold the bowling pin and then set it up or lay it down in a certain, desired or predetermined position (for example on the bowling alley or in the pit).
  • the robot arm is arranged in a stationary manner.
  • the robot arm can be designed, for example, to grip bowling pins located on neighboring bowling lanes and / or to set up the bowling pin on one of the neighboring bowling lanes. For example, it is conceivable to position the robot arm between two bowling lanes so that the robot arm can grab and / or set up bowling pins from both bowling lanes or neighboring bowling lanes.
  • the robot arm is designed to be movable. It can be provided, for example, that the robot arm is arranged on or on a movable carriage, such as a slide.
  • the trolley can have wheels, tires or rollers, for example.
  • the robot arm can be moved, as required, to the bowling alley where bowling pins are to be picked up, placed and / or set up.
  • the bowling lanes do not have to be adjacent, so one or more bowling lanes can be arranged between these bowling lanes.
  • the carriage can be moved, for example, by means of a stepping motor, the stepping motor preferably being controlled by the control unit.
  • the device can further comprise a position sensor connected to the control unit for detecting a position of the displaceable robot arm.
  • the position sensor can be a unit that differs from the object recognition device, such as a GPS sensor attached to the respective robot arm.
  • the position sensor can also be integrated into the stepper motor. A position / relative position of the carriage can then be determined by counting the steps of the stepping motor.
  • the position sensor can also be the object recognition device itself.
  • the control unit can be designed to control the movable robot arm depending on its actual position and / or to move it to a target position and then to control it.
  • the stationary or movable robot arm can also be arranged above the bowling alley or bowling alleys, e.g. at a certain height. In this case, the robotic arm reaches down to pick up a bowling pin from one of the bowling lanes.
  • the stationary robot arm can be fastened to a carrier which is arranged at the specific height above the bowling alley or bowling alleys.
  • the carriage of the movable robot arm can be coupled to a rail or guide (see below), which is arranged, for example, at a certain height above the bowling alley or the bowling alleys.
  • the control unit can control this robot arm and / or the respective other robot arm and / or the respective other robot arms as a function of an operating state of a robot arm. If the robot arm is, for example, fully functional or inoperable, the operating status can be marked with "good” or "bad". If the robot arm is inoperable, the control unit can control the other robot arm or the other robot arms so that the other robot arm or the other robot arms take over the functions of the inoperable robot arm. For example, the control unit can instruct the inoperable, movable robot arm or the carriage of this movable robot arm or a motor of the carriage to move to a parking position. The control unit can also instruct the non-functional, stationary robot arm to move to its rest position to accept.
  • the control unit can instruct a functional robot arm to take the place of the non-functional robot arm and to take over its functions.
  • the operating state can also include “on” and “off”. If the robot arm is switched on or off, for example, the further operating status "on” or “off” can be present.
  • the device comprises means for detecting an operating state of the robot arm.
  • the means for detecting the operating state can be connected to the control unit or be part of the control unit.
  • a user can use the above-described input means connected to the control unit to indicate which operating state the respective robot arm has (ie in particular "on” or “off” as well as “good” or “bad”).
  • the present document also proposes a bowling system.
  • the bowling system can in particular have the previously described device for setting up at least one bowling pin and / or the described robot arm or the robot arms.
  • the bowling system has an essentially horizontally extending bowling lane.
  • the bowling system can comprise at least two essentially horizontally extending bowling lanes. Longitudinal axes of the bowling lanes are preferably aligned parallel to one another.
  • the robot arm is designed to grip and / or set up bowling pins across lanes. It can be provided that the robot arm is designed to grip bowling pins located on the at least two bowling lanes.
  • the robot arm is arranged in a stationary manner with respect to the bowling lanes, for example above or between two adjacent bowling lanes. In this case, the robot arm can grip the bowling pins, e.g. one after the other or alternately, which are located on the neighboring bowling lanes. If the robot arm is designed to be movable, the robot arm can be moved to a position in such a way that the robot arm can grip and / or set up bowling pins of the neighboring bowling lanes from this position.
  • the bowling system can have a rail or guide on which or in which the carriage can be moved.
  • the rail can be part of a rail system be.
  • the rail or guide ensures that the robot arm can only be moved along a specified distance.
  • the carriage can be moved on a route provided for this purpose.
  • the route is usually adjacent to the bowling alleys.
  • the route is preferably dimensioned in such a way that at least two cars can travel side by side in opposite directions without the two cars colliding.
  • the car can be designed to be self-propelled, ie the car can have appropriate software and hardware to move the robot arm from bowling alley to bowling alley without accidents.
  • a ratio of robotic arms to bowling lanes is less than one. For example, if there are N number of robot arms and M number of bowling lanes, N is less than M. For example, a single robot arm can be provided for every two bowling lanes. With this embodiment, costs can be reduced.
  • a ratio of robotic arms to bowling lanes is greater than one. For example, if there are N number of robot arms and M number of bowling lanes, N is greater than M. For example, there may be two or more robot arms per bowling lane.
  • a redundancy can be created with which a smooth, uninterrupted operation of the bowling system can be guaranteed. If, for example, a robot arm in a bowling alley becomes inoperable, another robot arm can be driven to the corresponding bowling alley or an adjacent, stationary robot arm can grasp, hold and set up the bowling pins of the inoperative robot arm. In contrast to this, in conventional systems the entire bowling alley fails if the corresponding installation device is defective. The proposed device and / or the proposed bowling system can therefore, in particular, be used without interruption. The redundancy also reduces maintenance costs, as fewer service personnel have to be present to ensure undisturbed, uninterrupted operation of the bowling alleys.
  • the bowling system may include a ramp extending along the bowling alley extends, wherein the ramp is inclined to the horizontal, for example to the horizontal of the flat bowling alley.
  • the ramp usually comprises a guide rail for a bowling ball, the robot arm being designed to place the bowling ball on the ramp.
  • the ramp further preferably extends to a ball table. The bowling ball can then roll on the ramp under the influence of its own weight to the ball table, where it can then be used by a user for the next throw.
  • the method can in particular have one or more steps that were described above in the explanation of the device for setting up bowling pins.
  • the method can be implemented, for example, as code, for example in the form of a computer program on a computer-readable medium, such as a volatile memory or a non-volatile memory.
  • the method can in particular be carried out with the above-described device for setting up bowling pins.
  • the above-mentioned bowling system is also suitable for carrying out the method described.
  • the Figures 1 to 3 show different views of a device 1 for Setting up bowling pins 2.
  • the device 1 is located at one end of a flat running track 10, which is sometimes also referred to as a running surface 10 or bowling lane 10.
  • Various bowling pins 2 can be seen, which are set up or can be set up in an area 13, the so-called pin deck 13, of the running track 10.
  • the area 13 is adjoined by a recess 6 designed as a pit or channel 6 into which bowling pins 2 that have fallen over can be conveyed.
  • a slide can be provided (not shown) which is able to push fallen and / or standing bowling pins 2 from the pin deck 13 into the pit 6.
  • the bowling pins 2 are knocked over by a bowling ball 9.
  • the bowling ball 9 is usually made of a plastic compound and usually has a weight of 3.5 to 7.3 kg. Furthermore, a bowling pin 2 usually weighs between 1300 and 1640 grams and is about 35 to 40 cm, for example about 38 cm high. The bowling pin 2 usually has a core made of wood, which is provided with a plastic cover.
  • the device 1 comprises two robot arms 3, 4, each weighing approximately 100 to 150 kg. More than two robot arms or a single robot arm can also be provided.
  • the robot arms 3, 4 are designed to grasp and hold a bowling pin 2.
  • the robot arms 3, 4 are also designed to set up the bowling pin 2 in a predetermined target position 5, 12.
  • the robot arms 3, 4 can be multi-axis robots.
  • the robot arms 3, 4 can have several arm segments 22, 23, 24.
  • the robot arms 3, 4 each comprise a base 20 on which a platform 21 is arranged such that it can rotate about a vertical axis of rotation.
  • a swivel arm segment 22 is pivotably arranged on the pedestal 21.
  • a further arm segment 23 is arranged on the swivel arm segment 22, which arm segment can for example be designed as a rotary arm segment.
  • a gripping arm segment 24, which has an axis of rotation, is arranged on the further arm segment 23.
  • a gripping device 25 can be arranged on the gripping arm segment 24, which can be moved and pivoted in space by controlling the axes of movement of the robot arm segments 22, 23, 24.
  • the gripping device 25 can be, for example, a pneumatic, mechanical and / or magnetic gripping device.
  • the robot arms 3, 4 are also designed to grip and hold a bowling ball 9.
  • the gripping device 25 can have a sensor which is used to detect holding of the bowling pin 2 and / or bowling ball 9 is formed.
  • the robot arms 3, 4 comprise at least one rest position and one gripping position. This can ensure that the robot arms 3, 4 do not interfere with a throw by a bowling player or a user of the running track 10.
  • the device 1 comprises two robot arms 3, 4.
  • the robot arms 3, 4 are preferably of the same type.
  • two different types of robot arms 3, 4 can also be used for the device 1.
  • the robot arms 3, 4 and / or the gripping devices 25 can each be removed non-destructively, so that in the event of a malfunction they can be partially or completely removed and replaced by another robot arm or another gripping device 25.
  • a ramp (not shown) can extend laterally along the track 10.
  • the ramp can have a guide rail for the bowling ball 9.
  • At least one of the robot arms 3, 4 can be designed to place the bowling ball 9 on the ramp.
  • the ramp is inclined with respect to the flat running track 10, as a result of which the bowling ball 9 rolls under the influence of its own weight back to a ball table which is positioned at the beginning of the running track 10.
  • the bowling player can remove the bowling ball 9 from the ball table and use it for the next game.
  • the device 1 comprises an object recognition device (not shown) (cf. Fig. 5 ).
  • the object recognition device is designed to detect the bowling pin 2 and / or the bowling ball 9 and / or the robot arm 3, 4 and / or the pit 6 and / or the running track 10 and / or a person and / or an animal.
  • the object recognition device can also recognize the orientation of the bowling pins 2. In other words, the object recognition device is able to detect whether a bowling pin 2 has fallen over or is stationary.
  • the object recognition device can also be designed to detect a position of the bowling pin 2 on the running track 10.
  • the object recognition device can, for example, be on the robot arm 3, 4, and / or via the robot arm 3, 4 and / or next to the robot arm 3, 4.
  • the object recognition device can comprise several modules which are arranged at different locations. So that the object recognition device is always able to recognize a position and / or orientation of the bowling pins 2, the object recognition device can be arranged to be movable on a displacement arrangement. In this way, if one of the robot arms 3, 4 should block the view of the object recognition device, the object recognition device can be moved.
  • the object recognition device can also be designed to detect the robot arm 3, 4 or parts of the robot arm 3, 4 and / or a position of the robot arm 3, 4 and / or an orientation of the robot arm 3, 4 and / or a pivot position of the robot arm 3, 4 .
  • the object recognition device has at least one sensor which detects the bowling pins 2 and / or the bowling ball 9 and / or the robot arm 3, 4.
  • a laser scanner for example, can be used as a sensor. The scanner can emit several laser beams at a short distance so that a fan of laser beams is created. The fan formed by the laser beams is then pivoted by pivoting the sensor over a detection area, usually at least over the area 13 (pin deck 13) and the pit 6, whereby a spatial detection of the detection area takes place. Geometric data are created by measuring the distance using the laser beams.
  • a camera can also be used to detect the bowling pins 2 and / or the bowling ball 9 and / or the robot arm 3, 4.
  • the object recognition device can comprise one sensor or a multiplicity of sensors per bowling lane.
  • the object recognition device can also be designed to recognize a specific bowling pin 7 from a group of bowling pins 2.
  • the specific bowling pin 7 has a detection feature 8 which, in the exemplary embodiment shown, is designed as a colored, circumferential line 8 on the bowling pin 7.
  • the control unit connected to the object recognition device can be designed to switch off the robot arm 3, 4. In this way it can be ensured that, for example, service personnel and the robot arm 3, 4 do not interfere with one another.
  • the device 1 comprises a control unit (not shown) (cf. Fig. 5 ).
  • the control unit is designed to evaluate data and / or signals from the object recognition device and to control the robot arms 3, 4 depending on the predetermined target position 5, 12 of the bowling pins 2, 7 and / or the detected orientation of the bowling pins 2, in order to control the bowling pins 2, 7 to pick up and set up on the track 10 or to place in the pit 6.
  • the control unit controls the robot arm 3, 4 in order to set the bowling pins 2 back to the predetermined target positions 5. Furthermore, the control unit is usually designed to control the robot arm 3, 4 depending on the detected position of the bowling pin 2, the detected position including a target position 5, 12 and / or an actual position 11 horizontally displaced with respect to the target position 5, 12. In addition, the control unit can be designed to control the robot arms 3, 4 depending on the detected position of the bowling ball 9 in order to grip the bowling ball 9.
  • a bowling pin 2, 7 is moved from its original position on the first throw without falling. This case is in the Figures 4B and 4D described.
  • the target position 12 is in the Figures 4B and 4D shown as a dashed line.
  • the bowling pin 2 is moved to a new position 11 by the bowling ball 9 or another bowling pin 2 without falling over.
  • This displaced position 11 of the bowling pins 2, 7 is detected by the object recognition device and passed on to the control unit.
  • the bowling pin 2, 7 should be there, i.e. at the shifted position 11, where it was pushed to the first throw. Because the control unit controls the robot arm 3, 4 able to control depending on the detected position of the bowling pin 2, 7, it can be ensured that the bowling pin 2, 7 is placed exactly there with the second throw or stops exactly where it was moved after the first throw.
  • the control unit is usually connected to the slide (cf. Fig. 5 ) connected to control it.
  • the control unit can be designed to control the slide and the robot arm 3, 4 in such a way that, when a first number of bowling pins 2, 7 have fallen over, the slide pushes all bowling pins 2, 7 including a second number of standing bowling pins 2 into the pit 6 pushes.
  • all bowling pins 2 located on pin deck 13 are pushed into pit 6 according to the present application.
  • the upper arm 3, 4 then grabs bowling pins 2 from the pit 6 and places the bowling pins 2 at the positions 5, 11 of the bowling pins 2 detected by the object recognition device.
  • the aforementioned slide can also be dispensed with.
  • the control unit can control the robot arms 3, 4 in such a way that the robot arms 3, 4 pick up the fallen bowling pins 2, 7 from the track 10 and convey them into the pit 6, while the robot arms 3, 4 the standing bowling pins 2, 7 let stand on the runway 10.
  • the aforementioned control of the robot arms 3, 4 can take place here in particular after the first throw of the bowling ball 9 and before the second throw of the bowling ball 9.
  • the control unit can be designed to control the robot arms 3, 4 depending on their current orientations and positions. In particular, it is advantageous if movements of the robot arms 3, 4 and the slide are synchronized or coordinated with one another by the control unit.
  • the control unit can control the robot arms 3, 4 so that they move into the rest position. Furthermore, the robot arms 3, 4 can be controlled in order to improve recognition of the bowling pins 2 and the bowling ball 9 by the object recognition device.
  • the control unit can also control the displacement arrangement of the object recognition device.
  • control unit is connected to the sensor of the gripping device.
  • the control unit can have a microcontroller, a processor, a microprocessor and / or a digital signal processor.
  • a digital signal processor can be designed for continuous processing of digital signals, for example digital signals from the sensors mentioned above. It can further be provided that the control unit is designed to control one or more of the sensors mentioned.
  • control unit can have one or more memories, such as, for example, random access memory (RAM), read only memory (ROM), a hard disk, a magnetic storage medium and / or an optical drive.
  • RAM random access memory
  • ROM read only memory
  • a program can be stored in the memory, e.g. software for processing or editing the data and / or the signals of a sensor or several of the sensors mentioned above.
  • an input means (not shown) (cf. Fig. 5 ) which is connected to the control unit.
  • a user can use the input means to specify the predetermined target position 5, 12 of the bowling pins 2, 7 or a predetermined arrangement of the bowling pins 2, 7 (triangle, square, cuboid, line, line shape, etc.) on the track 10 and forward it to the control unit .
  • the control unit and the input means can, for example, be connected to one another optically by means of glass fibers, electrically by means of cabling or via a wireless communication device.
  • FIG. 4 various possible arrangements of bowling pins 2, 7 are shown. So, according to the Figure 4A ten bowling pins 2, 7, 12 can be arranged in an isosceles triangle.
  • the Figure 4C shows an arrangement of nine bowling pins in a square. Of course, many different arrangements of bowling pins 2, 7, 12 are possible and the present application is not limited to a specific arrangement of bowling pins 2, 7.
  • the method described can in particular be carried out with the device 1 described above.
  • the Fig. 5 shows a schematic representation of the device 1 for setting up bowling pins 1.
  • the control unit 30 is connected to the object recognition device 31, the input means 32, the slide 33 and the robot arm 4.
  • the control unit 30 with a stepper motor a carriage 34 can be connected.
  • the control unit 30 and the object recognition device 31, the input means 32, the slide 33, the robot arm 4 and / or the stepper motor of the carriage 34 can each be connected to one another, for example, optically by means of glass fiber, electrically by means of cabling or via a wireless communication device.
  • An operating state of the robot arm 3, 4 can be communicated to the control unit 30 via the input means 32. If one of the robot arms 3, 4 is no longer functional due to a defect, the operating status "inoperable” or “bad” can be entered, for example, at the input means 32. The control unit 30 then controls the respective other robot arm 3, 4 as a function of this operating state, so that the other robot arm 3, 4 takes over the functions of the inoperable robot arm 3, 4.
  • the input means 32 can be, for example, a keyboard, a mouse, a touchscreen, a cell phone, such as a smartphone, or the like. It goes without saying that the invention is not restricted to a specific input means 32. Alternatively or additionally, means (not shown) for detecting an operating state of the robot arm 3, 4 can be provided which indicate which operating state the respective robot arm 3, 4 has. These detection means can also be connected to the control unit 30 in the manner described above.
  • the Fig. 6 shows a schematic representation of a bowling system 100 with several bowling lanes (running tracks) 111, 112, 113, 114, the longitudinal axes of which are aligned parallel to one another.
  • the bowling system 100 comprises five robot arms 101, 102, 103, 104, 105, which are arranged in a stationary manner with respect to the bowling lanes 111, 112, 113, 114.
  • the robot arms 102, 103, 104 are arranged between two bowling lanes 111, 112, 113, 114.
  • the robot arms 101, 102, 103, 104, 105 can each be attached to a carrier, not shown, which is located at a certain height above the bowling lanes 111, 112, 113, 114.
  • the robot arms 101, 102, 103, 104, 105 are all connected to the control unit 30.
  • the control unit 30 can thus individually control the robot arms 101, 102, 103, 104, 105 and the operational sequence of the robot arms coordinate.
  • the middle three robot arms 102, 103, 104 are each designed to grasp, hold and set up bowling pins 2 which are located on two adjacent bowling lanes.
  • bowling pins 2 of bowling lanes 111, 112 can be picked up and set up by robot arm 102.
  • the bowling lanes 111, 112, 113, 114 can also be used when a robot arm or several red upper arms are broken and need to be repaired.
  • robot arms 101, 103, 105 can alternatively also be dispensed with. In this case, the robot arms 102 and 104 can pick up and set up bowling pins 2 of the lanes 111, 112 or 113, 114 across lanes.
  • the Fig. 7 shows a schematic representation of a further bowling system 200 with several bowling lanes (running tracks) 211, 212, 213, 214 running parallel to one another.
  • the bowling system 200 differs from the bowling system 100 in that a rail system 35 and movable robot arms 201, 202, 203, 204 and 205 are provided.
  • the bowling system 200 can also have one or more guides for the robot arms 201, 202, 203, 204, 205.
  • the robot arms 201, 202, 203, 204, 205 connected to the control unit 30 are each arranged on a movable carriage 34.
  • the carriages 34 have wheels, tires or rollers and are mounted on the rail system 35, the rail system 35 at the same height as the bowling lanes 211, 212, 213, 214 (e.g. next to the bowling lanes) or at a certain height above the bowling lanes 211, 212, 213, 214 can be positioned.
  • the rail system 35 comprises, for example, a main rail 36, which runs transversely to a longitudinal axis of the respective bowling lanes 211, 212, 213, 214, and five storage rails 37, which extend parallel to the longitudinal axes of the bowling lanes 211, 212, 213, 214 and with the Main rail 36 are connected.
  • the robot arm 204 is on the parking rail 37. If, for example, it is determined that the robot arm 201 is inoperable according to an operating state "bad", the control unit 30 can cause the robot arm 201 to move to one of the parking rails 37 and then switched off accordingly the operating status "off" and "bad". In the Figure 7 this is shown by arrow 38. The now missing robot arm 201 can be compensated for by moving the robot arm 202 on the main rail 36. So that the control unit 30 knows where the individual robot arms or carriages 34 are located, position sensors can be provided for detecting a position of the displaceable robot arms 201, 202, 203, 204, 205.
  • the respective position sensors can, for example, be attached to the robot arms 201, 202, 203, 204, 205 or be part of the stepper motors.
  • the object recognition device 33 is used to detect the positions of the robot arms 201, 202, 203, 204, 205.
  • the control unit 30 then controls the robot arms 201, 202, 203, 204, 205 or the stepping motors of the carriages 34 of the robot arms 201, 202, 203, 204, 205 depending on their positions.
  • the bowling alley 213 is currently not used. For this reason, the associated robot arm 204 was moved onto the parking rail 37 by activating the control unit 30 and was temporarily switched off. Its operating state is therefore “good” and “off” in the exemplary embodiment shown.
  • the other robot arms 202, 203 and 205 each have the operating status "good” and "on”.
  • the carriage 34 can be moved on a route (not shown) provided for this purpose.
  • the route is usually adjacent to the bowling alleys 211, 212, 213, 214.
  • the route can, for example, have a similar or the same course as the one in the Fig. 7
  • the route is preferably dimensioned in such a way that at least two carriages 34 can travel next to one another in the opposite direction without the two carriages 34 colliding.
  • the trolley 34 can in this case be designed to be self-propelled, ie the trolley 34 has appropriate software and hardware to move the robot arm 201, 202, 203, 204, 205 accident-free from one of the bowling alleys 211, 212, 213, 214 to one of the other bowling alleys 211, 212, 213, 214 to drive.

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EP20192509.6A 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling Active EP3831453B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP17199791.9A EP3479878A1 (fr) 2017-11-02 2017-11-02 Dispositif et procédé permettant de mettre en place au moins une quille de bowling
PCT/EP2018/069050 WO2019086150A1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé destinés à poser au moins une quille de bowling
EP18742756.2A EP3568219B1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling

Related Parent Applications (2)

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EP18742756.2A Division EP3568219B1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling
EP18742756.2A Division-Into EP3568219B1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling

Publications (3)

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EP3831453A1 true EP3831453A1 (fr) 2021-06-09
EP3831453B1 EP3831453B1 (fr) 2023-06-07
EP3831453C0 EP3831453C0 (fr) 2023-06-07

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EP17199791.9A Withdrawn EP3479878A1 (fr) 2017-11-02 2017-11-02 Dispositif et procédé permettant de mettre en place au moins une quille de bowling
EP20192509.6A Active EP3831453B1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling
EP18742756.2A Active EP3568219B1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling

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EP17199791.9A Withdrawn EP3479878A1 (fr) 2017-11-02 2017-11-02 Dispositif et procédé permettant de mettre en place au moins une quille de bowling

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Application Number Title Priority Date Filing Date
EP18742756.2A Active EP3568219B1 (fr) 2017-11-02 2018-07-12 Dispositif et procédé permettant de mettre en place au moins une quille de bowling

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US (1) US11266902B2 (fr)
EP (3) EP3479878A1 (fr)
JP (1) JP7025065B2 (fr)
WO (1) WO2019086150A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7563117B2 (ja) * 2020-10-30 2024-10-08 セイコーエプソン株式会社 ロボット制御方法およびロボットシステム
US20230310974A1 (en) * 2022-04-04 2023-10-05 Larry Horton Robotic Pin Setter Device

Citations (9)

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Publication number Priority date Publication date Assignee Title
US5624323A (en) * 1993-06-18 1997-04-29 Mendes Inc. Automatic pinsetter
US6027411A (en) 1997-07-03 2000-02-22 Huehne; Siegmar Automatic bowling pin setter or skittle setter machine
EP1002558A2 (fr) * 1998-11-17 2000-05-24 Vollmer Werke Maschinenfabrik Gmbh Dispositif et procédé pour disposer des quilles sur une piste de quilles
US6524192B1 (en) 1998-12-11 2003-02-25 Telesystems Co., Ltd. Bowling pin arrangement control device and its connecting unit
US20060211508A1 (en) 2003-06-17 2006-09-21 Speigl Philip B Pin setter for bowling alley
JP2007014511A (ja) * 2005-07-07 2007-01-25 Toshiba Tec Corp ボーリングゲーム用スコア算出装置
WO2012091550A1 (fr) 2010-12-28 2012-07-05 Bowling Nederland B.V. Appareil permettant de faire tenir les quilles debout pour pistes de bowling ou de jeu de quilles
CN204469183U (zh) * 2014-12-31 2015-07-15 上海中路实业有限公司 一种保龄排瓶系统
CN107096211A (zh) * 2016-02-19 2017-08-29 温志刚 智能保龄球设备

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Publication number Priority date Publication date Assignee Title
JPH06182021A (ja) 1992-12-17 1994-07-05 Kontetsuku:Kk コンピューターボウリングにおけるゲーム処理システム
JPH11139558A (ja) * 1997-11-14 1999-05-25 Takabatake Wine Kk 瓶の取扱システム
NL2003002C2 (en) * 2009-06-11 2010-12-15 Securo B V Systeem voor bowling.

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5624323A (en) * 1993-06-18 1997-04-29 Mendes Inc. Automatic pinsetter
US6027411A (en) 1997-07-03 2000-02-22 Huehne; Siegmar Automatic bowling pin setter or skittle setter machine
EP1002558A2 (fr) * 1998-11-17 2000-05-24 Vollmer Werke Maschinenfabrik Gmbh Dispositif et procédé pour disposer des quilles sur une piste de quilles
US6524192B1 (en) 1998-12-11 2003-02-25 Telesystems Co., Ltd. Bowling pin arrangement control device and its connecting unit
US20060211508A1 (en) 2003-06-17 2006-09-21 Speigl Philip B Pin setter for bowling alley
JP2007014511A (ja) * 2005-07-07 2007-01-25 Toshiba Tec Corp ボーリングゲーム用スコア算出装置
WO2012091550A1 (fr) 2010-12-28 2012-07-05 Bowling Nederland B.V. Appareil permettant de faire tenir les quilles debout pour pistes de bowling ou de jeu de quilles
CN204469183U (zh) * 2014-12-31 2015-07-15 上海中路实业有限公司 一种保龄排瓶系统
CN107096211A (zh) * 2016-02-19 2017-08-29 温志刚 智能保龄球设备

Also Published As

Publication number Publication date
EP3831453B1 (fr) 2023-06-07
JP2021502204A (ja) 2021-01-28
US20200254328A1 (en) 2020-08-13
EP3568219B1 (fr) 2020-10-07
EP3831453C0 (fr) 2023-06-07
WO2019086150A1 (fr) 2019-05-09
EP3479878A1 (fr) 2019-05-08
JP7025065B2 (ja) 2022-02-24
EP3568219A1 (fr) 2019-11-20
US11266902B2 (en) 2022-03-08

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