EP3568219A1

EP3568219A1 - Device and method for setting up at least one bowling pin

Info

Publication number: EP3568219A1
Application number: EP18742756.2A
Authority: EP
Inventors: Sven Hohnecker
Original assignee: Pin Marketing SL
Current assignee: Pin Marketing SL
Priority date: 2017-11-02
Filing date: 2018-07-12
Publication date: 2019-11-20
Anticipated expiration: 2038-07-12
Also published as: WO2019086150A1; US20200254328A1; EP3831453A1; US11266902B2; JP2021502204A; EP3831453B1; EP3831453C0; JP7025065B2; EP3568219B1; EP3479878A1

Abstract

The invention relates to a device (1) for setting up at least one bowling pin (2). The device (1) comprises: an object detection device for detecting the bowling pin (2) and an orientation of the bowling pin (2), wherein the orientation of the bowling pin (2) includes a vertical orientation and a horizontal orientation of the bowling pin (2); at least one robotic arm which is configured for gripping and retaining the bowling pin (2) and for setting up the bowling pin (2) in a predetermined target position (5, 12); and a control unit which is designed to evaluate data of the object detection device and to actuate the robotic arm (3, 4) according to the predetermined target position (5, 12) of the bowling pin (2) and/or the detected orientation of the bowling pin (2). The invention also relates to a method for setting up at least one bowling pin (2).

Description

Device and method for setting up at least one bowling pin

The invention relates to a device, a bowling system and a method for setting up bowling pins, wherein a robot arm is configured to provide the bowling pins to a predetermined position.

Various devices for setting up bowling pins are known in the prior art. Such devices are sometimes called pinsetter and should be capable of e.g. restore a variety of bowed bow pins upright to a predetermined position in less than 30 seconds.

A disadvantage of these known devices are the relatively rapid wear of individual components and the complex maintenance of the devices, whereby the devices are often prone to failure. In addition, for a smooth operation of a bowling alley usually spare parts have to be constantly bought and replaced. Overall, the maintenance tion of such devices for positioning bowling pins costly and time consuming. In the case of failure of the pinsetter, the associated bowling alley can usually only be put into operation and used again from the time when the cause or completion of the repair is remedied. In addition, existing pinsetter have a very high weight of up to 1000 kg or even more. In addition, existing pinsetters cause significant noise, which severely limits their locations.

With the erection devices of the prior art, it has not been possible in a satisfactory manner to specify any pin layouts on a track in a manner that is simple for the user and to be executed by the erection device.

Further, it has proven difficult to put postponed pins after a litter in that same shifted position back on the track after the fallen pins have been cleared.

In the publication US Pat. No. 6,524,192 Bl, bowling pins are picked up by means of a plurality of gripping tongs and subsequently set up in predetermined positions.

The publication WO 2012/091550 AI describes a device for setting up bowling pins, the bowling pins are attached by means of cables to pulleys. Furthermore, detection means are provided which are able to detect a movement of the bowling pins.

The document US 6 027 411 A discloses a device for setting up bowling pins, which can be swept by a slider from the bowling alley. The bowling pins are returned to the bowling alley by means of a comparatively complicated mechanism.

Furthermore, publication US 2006/0211508 A1 shows an electromechanical device with a hydraulic drive for setting up bowling pins.

The object of the invention is to overcome the problems of the prior art at least partially. This object is achieved by the device according to the main claim, a bowling system according to a secondary claim and the method according to another additional claim. Further developments are described by the following description and the dependent claims.

The present document proposes a device for setting up at least one bowling pin. The device comprises:

an object recognition device for detecting the bowling pin and an orientation of the bowling pin, wherein the orientation of the bowling pin comprises a vertical orientation and a horizontal orientation of the bowling pin,

at least one robot arm, which is designed for gripping and holding the bowling pin and for setting the bowling pin to a predetermined desired position, and

a control unit, which is designed to evaluate data of the object recognition device, and to control the robot arm depending on the predetermined target position of the bowling pin and / or the detected orientation of the bowling pin.

Compared to the known devices of the prior art, the proposed device for setting up bowling pins typically characterized by their compact, energy-saving and lightweight design. While hitherto complex and large machines have been required for setting up bowling pins, the proposed device can make do with only one object recognition device, one robot arm and one control unit.

In addition, the bowling pins can be set by the robot arm with great precision on the predetermined target position. Typically, in a bowling game, ten bowling pins are placed in an isosceles or equilateral triangle with a apex of the triangle facing the bowler. The fact that the robot arm is used to set up the bowling pins, a great flexibility in setting up the bowling pins can be achieved. For example, a variety of

Bowling pins placed in a predetermined order on the track become. Thus, the bowling pins can be arranged in a variety of geometric shapes. For example, nine bowling pins can be placed in a square. The bowling pins can alternatively be set up along a line, for example. The predetermined arrangement may be a complete basic layout of, for example, ten in a triangle or nine bowling pins in a square or a partial list of these arrangements. In addition, the bowling pins can be arranged with the proposed device deviating from the triangular shape or square shape on the track. The number of bowling pins can be 9 or 10 or even more than 10 or less than 9. The proposed device thus allows any desired predetermined positions and arrangements of the bowling pins on the track, which even new types of games can be designed that were not possible with the previous setup devices.

The area of the track in which the bowling pins are placed is often referred to as Pindeck. The predetermined position of the bowling pin or the predetermined arrangement of the bowling pins or the number of bowling pins can e.g. be predetermined by a user via an input means which is connected to the control unit. If a user e.g. want to practice his throwing technique in certain arrangements of bowling pins, he can enter or change the predetermined position of the bowling pin or the arrangement of the bowling pins or the number of bowling pins via the input means.

Furthermore, the proposed device allows a quick deployment of the bowling pins, i. the device ensures placement within 30 seconds or less. The robot arm in a preferred embodiment weighs at most 200 kg or at most 175 kg or at most 150 kg.

Bowling pin in the sense of this document is to be understood conical, cylindrical and / or rod-shaped objects that can typically be overturned by a user by means of a ball. The term "bowling pin" therefore includes "pin,""cone,""bowlingpin," and "bowling pin." The bowling ball is often called a ball or ball designated. If a bowling pin is in the horizontal orientation, it may also be referred to as a "bowed bow pin." If a bowling pin has the vertical orientation, it may be referred to as a "bowling pin left".

A bowling alley typically includes an approach, a foul line, a tread, a pit, a pit, and / or at least one gutter.

The start-up is the area in which the players move to perform their throw. The Foullinie is a line usually in black, which demarcates the start and the career from each other. The Foullinie is often connected by a light barrier with a control unit. If the light barrier is triggered, then an F (foul) is entered for the throw and the fallen pins do not count. The track is usually 60 feet long between the start and the Pindeck. This area is usually not entered by the players. The ball goes through this area on its way to the pins on the Pindeck. The tread is usually partially oiled to protect primarily the sheet covering. The Pindeck is the area in which the bowling pins stand or in which fallen bowling pins are set up again. The pit joins longitudinally to the area of the Pindeck. The pit is the area where the fallen bowling pins are pushed by a slider or where the bowling pins are pushed through the ball. The at least one channel extends laterally (left or right) next to the track and the Pindeck.

In a development, the object recognition device is designed to detect a position of the bowling pin. In particular, the detected position includes a position of a bowling pin having the vertical orientation. The exact position of a bowling pin that has the horizontal orientation may not be detected. Optionally, however, the position of the bowling pin, which has the horizontal orientation, can be detected by the object recognition device. Under the position of the bowling pin, for example, a projection of a position of the center of gravity of the bowling pin on a flat surface, such as a track or bowling pin railway or mine (see below). Thus, while the orientation of the bowling pin indicates 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 may be configured to control the robot arm depending on the detected position of the bowling pin. The detected position may include the predetermined target position and / or an actual position shifted horizontally with respect to the target position.

Typically, a bowler or user has two throws to knock down a number of bowling pins (usually ten). It may happen that a bowling pin is moved from its original position on the first roll without falling. But before the second litter should the

Bowling pin standing where he was pushed on the first litter. The fact that 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 the second throw there or stops exactly where he was moved after the first throw. Current pinsetter, such as Seilpinsetter, do not do so or not in a satisfactory manner or only within a relatively large tolerance range.

Further, the device may comprise a slider. The slider may be configured to push a plurality of bowling pins, for example, on the track, into a pit, such as a gutter.

The following is a brief explanation of how bowling pins are usually pushed by the slide according to the prior art from the track (the Pindeck) and into the pit. As soon as the first bowling ball has been thrown / thrown and after the first throw of the bowling ball still some

Bowling pins stand, usually pull pliers down and grab the leftover bowling pins. The pliers pull the bowling pins up and the slider pushes the fallen, still lying on the track bowling pins back into the pit. Then the bowling pins are put on the track or on the Pindeck by the pliers and the empty pliers go up again. After the second litter the tongs go also down again, but do not reach for the bowling pins but go back upstairs. 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 Pindeck or in the gutter, this is pushed through the slide into the pit. If there is no bowling pin on the pindeck or in the gutter, the second litter can take place immediately.

In contrast, according to an embodiment of the present application, all bowling pins on the track, so both fallen and standing bowling pins pushed after the first litter by means of the slider into the pit. In one embodiment, the controller is configured to drive the slider and the robotic arm such 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.

For example, the robot arm may pick out only the second number of vertically oriented bowling pins from the pit and set it up to the predetermined target position or the position detected by the object recognition device. It usually does not matter which bowling pins are gripped out of the pit by the robotic arm and placed back on the track (on the pindeck); it is only the number of bowling pins to be reinstated, which has stopped after the first litter.

It has been found that it is e.g. after the first throw is easier to push all the bowling pins from the track into the pit, then pick out single bowling pins by means of the robot arm from the pit and then set up as fallen bowling pins by means of the robot arm between still standing bowling pins and put into the pit, because the robotic arm inadvertently overturns the standing bowling pins when grasping the overturned bowling pins.

After the second litter, all bowling pins remaining on the track are pushed through the slider into the pit. The robotic arm then picks the bowling pins out of the pit and places the robotic arm Bowling pins back on the predetermined target positions on the track on.

In one embodiment, can also be dispensed with the aforementioned slide. In this case, the control unit may drive the robot arm such 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 activation of the robot arm can in this case take place in particular after the first throw of the bowling ball and before the second throw of the bowling ball.

Further, it is possible for the robot arm to set the bowling pins in the pit and the fallen bowling pins to the predetermined positions after the second throw, thereby leaving the bowling pins left after the second throw at the predetermined target position. This can reduce the time it takes to set up the bowling pins after the second litter.

According to a further embodiment, the object recognition device for recognizing a specific bowling pin can be configured from a group of bowling pins. For this purpose, the particular bowling pin preferably comprises a detection feature. By this embodiment of the device and the specific bowling pin more game variants can be designed. The detection feature may be, for example, a particular color, material choice or shaping of the bowling pin. It is only important that the object recognition device can recognize the specific bowling pin via the detection feature. For example, a "golden bowling pin" may be placed in a predetermined position, such as facing the bowler in a forwardmost position, and the users or bowlers may then try to overturn the golden bowling pin in a competition situation.

In a further embodiment it can be provided that the object recognition device is designed to detect a bowling ball and a position of the bowling ball. The object recognition device may also be for detecting the robot arm and / or a position of the robot arm and / or an orientation of the robot arm and / or a pivoting position be configured of the robot arm. In addition, the object recognition device may be designed to detect the raceway, the pit, a ramp (see below) and / or the slider and / or a human and / or an animal. In a further variant, the object recognition 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. If the object recognition device recognizes that the object is neither bowling ball nor bowling pin, and is within a safe distance from the robot arm, the control unit may be configured to switch off the robot arm. In particular, the object recognition device can be designed to recognize humans or animals. The control unit may then be configured to turn off the robotic arm when a human or animal is within a safe distance from the robotic arm. This safety measure can prevent eg service personnel and the robot arm from interfering with each other.

Furthermore, the at least one robot arm for gripping and holding the bowling ball and for moving the bowling ball can be configured to a predetermined target position. In addition, a control unit can be designed to control the robot arm depending on the detected position of the bowling ball.

It can be provided that the object recognition device is arranged on the robot arm and / or above and / or next to the Rotoberarm. The object recognition device can also be arranged on, above, behind, in front of or next to the Pindeck or the raceway. The exact choice of the position of the object recognition device typically depends on the particular circumstances of the respective bowling lane or raceway. In one embodiment, the control unit is designed to control the robot arm depending on a current orientation and / or current position of the robot arm. For example, 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 in the resting position does not hinder a throw of a bowling player or user. If the robot arm or a bowling pin or bowling ball obstructs or limits the view of the object recognition device, the control unit can control the robot arm such that the robot arm moves to another position. Alternatively or additionally, it may be advantageous for the object recognition device to 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 released. For this purpose, the object recognition device can be arranged on a travel arrangement. The object recognition device can be moved from a rest position into at least one measurement position and back. The traversing arrangement can be connected to the control unit and controlled by it.

Usually, the robot arm 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 exact gripping is not necessary. Furthermore, in a magnetic gripping device usually a gripping at different gripping points of the bowling pin is possible. For this purpose, 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 is precisely tangible, so that a precise positioning of the bowling pin on the predetermined position is possible. A combination of a magnetic, mechanical and / or pneumatic gripping device is also conceivable.

The gripping device may comprise a sensor which is designed to detect a holding of the bowling pin and / or bowling ball. The sensor of the gripping device can in turn be connected to the control unit. Thus, in one embodiment, the robot arm can only be further moved or rotated further by a corresponding actuation of the control unit if the sensor indicates that the bowling pin or the bowling ball is being held by the gripping device of the robot arm. In a further embodiment, the robot arm or the gripping device can be dismounted without destruction in order to replace the robot arm / gripping device with another robot arm / 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 disassembled and the robot arm or the corresponding part can be exchanged. For a smooth operation, the device may further comprise at least two robot arms. If one of the robotic arms is to break during operation, bowling pins can still be deployed with the other robot arm or robotic arms. In addition, a speed of deployment of the bowling pins can be increased if two or more robot arms are present. In one embodiment, the movements of the robot arms and / or the slider are synchronized or matched by the control unit. As a result, for example, collisions of the robot arms can be prevented.

The object recognition device comprises, for example, a sensor, such as a photosensor, or a laser scanner, such as a 3D laser scanner, or a tactile switch or a camera or a combination of several of these elements 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 slider and / or the ramp and / or a human (see below). In this case, the object recognition device preferably permits a 3D object recognition of the respective objects. Furthermore, it is also possible to use a plurality of sensors, laser scanners and / or photosensors and / or cameras and / or a combination of one or more 3D laser scanners, cameras and photosensors.

The control unit may be configured to process or process signals or data from one or more of the aforementioned sensors (laser scanner, SD laser scanner, tactile switch, camera, photosensor, or combination) of the object recognition device.

In one embodiment, the robot arm is designed to grip and / or set up bowling pins across all tracks (bowling lane crossing). In In 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. The robot arm, in particular bowling pins successively or alternately - not multiple bowling pins at the same time - grab from different bowling lanes, hold and place on different bowling lanes. The term "located" generally comprises standing bowling pins and lying bowling pins, for example, the robot arm can be dimensioned and / or positioned such that it can grip bowling pins of different bowling lanes and / or place them on different tracks After grasping the bowling pin, the robotic arm can hold the bowling pin and then set it up or down to a specific, desired or predetermined position (eg, the bowling alley or the bowling alley) Pit).

In one embodiment, the robot arm is arranged stationary. The robot arm may e.g. for gripping bowling pins located on adjacent bowling lanes and / or setting up the bowling pin on one of the adjacent bowling lanes. For example, it is conceivable to position the robot arm between two bowling lanes, so that the robot arm can grip and / or set up bowling pins of both bowling lanes or adjacent bowling lanes.

In a further embodiment, 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 carriage. The car may for example have wheels, tires or rollers. In this case, the robot arm can be driven as needed to that bowling alley where bowling pins are picked up, put down and / or set up. In this case, the bowling lanes need not be adjacent, so there may be one or more bowling lanes between these bowling lanes. The carriage can be moved, for example, by means of a stepper motor, wherein the stepper motor is preferably controlled by the control unit. The device may further comprise a position sensor connected to the control unit for detecting a position of the movable robotic arm. The position sensor may in this case 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 in the stepper motor. By counting the steps of the stepping motor, a position / relative position of the carriage can then be determined. Alternatively, the position sensor may 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 to a desired position and then to control it.

The fixed or movable robot arm can also be arranged above the bowling alley or bowling lanes, e.g. at a certain height. In this case, the robotic arm reaches down to take a bowling pin off one of the bowling lanes. The fixed robot arm may be attached for this purpose to a support which is arranged at the predetermined height above the bowling alley or bowling lanes. The carriage of the traveling robotic arm may be coupled to a rail or guide (see below), e.g. arranged at the predetermined height above the bowling alley or the bowling lanes.

If a plurality of robot arms are present, the control unit can control this robot arm and / or the respective other robot arm and / or the respective other robot arms depending on an operating state of one robot arm. For example, if the robotic arm is fully functional or inoperable, the operating status may be marked "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 non-functional robot arm. For example, the control unit may instruct the inoperable, movable robotic arm or the carriage of this movable robotic arm or a motor of the car to drive to a parking position. Furthermore, the control unit can instruct the inoperable, stationary robotic arm, its rest position. to accept. In addition, the control unit can instruct a functioning robot arm to take the place of the disabled robot arm and to take over its functions. The operating state may also include "on" and "off". If the robot arm is switched on or off, for example, the further operating state can be "on" or "off". In one embodiment, the device comprises means for detecting an operating state of the robot arm. The means for detecting the operating state may be connected to the control unit or be part of the control unit. Alternatively or additionally, a user can specify by means of the input means described above, which is connected to the control unit, which operating state the respective robot arm has (ie in particular "on" or "off" and "good" or "bad").

The present document also proposes a bowling system. The bowling system may in particular comprise the device described above for setting up at least one bowling pin and / or the described robot arm or arms. In addition, the bowling system has a substantially horizontally extending bowling alley.

The bowling system may include at least two bowling lanes extending substantially horizontally. Longitudinal axes of the bowling lanes are preferably aligned parallel to one another. In one embodiment, the robot arm is designed to grip and / or set up bowling pins across the tracks. It can be provided that the robot arm is designed to grip bowling pins located on the at least two bowling lanes. In one embodiment, the robotic arm is stationarily located 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. successively or alternately, which are located on the adjacent bowling alleys. If the robot arm is designed to be movable, the robot arm can be moved to a position such that the robot arm can grip and / or set up bowling pins of the adjacent bowling lanes from this position.

The bowling system may comprise a rail or guide on which or in which the carriage is movable. The rail can be part of a rail Be system. The rail or guide ensures that the robot arm can only move along a predetermined distance. In an alternative embodiment, the carriage is movable on a route provided for this purpose. The route usually adjoins the bowling alleys. The route is preferably dimensioned such that at least two cars can travel side by side in the opposite direction, without causing collisions between the two cars. The car can be designed to be self-propelled, ie the car has appropriate software and hardware to drive the robot arm accident-free bowling alley to bowling alley.

In one embodiment, a ratio of robotic arms to bowling lanes is less than one. For example, if there are a number of N robotic arms and a number of M bowling lanes, N is less than M. It may be e.g. a single robot arm per two bowling lanes be provided. With this embodiment, costs can be reduced.

In another embodiment, a ratio of robotic arms to bowling lanes is greater than one. For example, if there are a number of N robotic arms and a number of M bowling lanes, N is greater than M. It may be e.g. two or more robot arms per bowling alley be provided. In this case, a redundancy can be created, with a smooth, uninterrupted operation of the bowling system can be ensured. For example, if one robotic arm of a bowling alley becomes inoperative, another robotic arm may be driven to the appropriate bowling alley, or an adjacent stationary robotic arm may take over the grasping, holding and placement of bowling pins of the inoperative robotic arm. In contrast, in conventional systems, the complete bowling alley fails if the corresponding erection device is defective. With the proposed device and / or the proposed bowling system can therefore be worked in particular uninterrupted. Redundancy also reduces maintenance costs by reducing the need for service personnel to ensure uninterrupted, uninterrupted operation of the bowling alleys.

The bowling system may include a ramp that runs along the bowling track, wherein the ramp is inclined to the horizontal, for example, against the horizontal of the flat bowling alley. The ramp typically includes a bowling ball guide rail, with the robotic arm configured 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 litter.

In the prior art is often provided that the bowling ball rolls after a throw in front of a ball accelerator, which the bowling ball on a high

Speed brings and rolls up to a ball tray. Before the ball placement, the bowling ball is slowed down and returned to a ball table with a conveyor belt, which is located in a housing of the ball rack.

In another variant of the prior art, a conveyor belt and a ball lifter connected to the conveyor belt are provided, which raises the ball on a ramp, after which the bowling ball rolls on the ramp to the ball table.

With the comparatively simple arrangement of the ramp in conjunction with the robot arm for gripping the bowling ball can thus be dispensed with the complicated and error-prone structure (ball accelerator, conveyor belt, ball lifter, etc.) of the prior art.

All features of the bowling system can be combined with features of the device and vice versa, as far as these features are not contradictory or exclusive.

Furthermore, the present document provides a method for setting up at least one bowling pin. The method comprises at least the steps:

- detecting the bowling pin and an orientation of the bowling pin, wherein the orientation of the bowling pin comprises a vertical orientation and a horizontal orientation of the bowling pin;

- Grasping the bowling pin by means of a robot arm; and

- Setting the bowling pin by means of the robot arm to a predetermined target position. The method can also have the following steps:

Detecting a position of the bowling pin, wherein the detected position comprises a desired position and / or an actual position displaced horizontally with respect to the desired position; and

- Move the robot arm depending on the detected position of the bowling pin.

Furthermore, additional steps may be provided in the method:

Detecting a position of a second number of vertically oriented bowling pins;

- Pushing a first number of horizontally oriented bowling pins and the second number of vertically oriented bowling pins in a pit;

- Grasping the second number of bowling pins by means of the robot arm from the pit; and

- Setting up the bowling pins by means of the robot arm to the detected position.

In one embodiment of the method, the following steps are implemented:

- detecting a bowling ball and a position of the bowling ball;

- Grasping and holding the bowling ball by means of the robot arm; and

- Move the bowling ball to a predetermined target position by means of the robot arm.

The method may include the following step:

Detecting a particular bowling pin from a group of bowling pins, the particular bowling pin comprising a detection feature.

In particular, the method may include one or more of the steps described above in the discussion of the bowling pin assembly. The method may, for example, be implemented 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 be carried out in particular with the device for setting up bowling pins described above. The bowling system mentioned above is also suitable for carrying out the method described.

It should be emphasized at this point that features which have been mentioned only in relation to the bowling pin installation device or the bowling system may also be claimed for said bowling pin placement method and vice versa.

The invention will be explained with reference to the accompanying figures. In the figures shows

Fig. 1 is a perspective view of a device for setting up bowling pins;

FIG. 2 shows a further view of the device for setting up bowling pins; FIG. 3 shows another view of the device for setting up bowling pins;

4 shows various desired positions of bowling pins;

5 shows a schematic illustration of the device for setting up bowling pins according to FIGS. 1-3;

Fig. 6 is a schematic representation of a bowling system with multiple bowling lanes; and Fig. 7 is a schematic representation of another bowling system with multiple bowling lanes.

In the figures, recurring features are given the same reference numerals.

Figures 1 to 3 show different views of a device 1 for Installation of Bowling Pins 2. The device 1 is located at one end of a flat track 10, which is sometimes referred to as a tread 10 or bowling lane 10. Evident are various bowling pins 2, which are placed or erected in an area 13, the so-called Pindeck 13, the track 10. Adjacent to the region 13 is a recess 6 designed as a pit or channel 6, into which fallen bowling pins 2 can be conveyed. It can be provided a slider (not shown), which is able to push fallen and / or standing bowling pins 2 from Pindeck 13 into the pit 6. Typically, the bowling pins 2 are overturned by a bowling ball 9. The bowling 9 is usually made of a plastic compound and has a weight of 3.5 to 7.3 kg as a rule. Further, 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 coating.

The device 1 comprises two robot arms 3, 4, each weighing approximately 100 to 150 kg. It can also be provided more than two robot arms or a single robot arm. The robot arms 3, 4 are designed for gripping and holding a bowling pin 2. Furthermore, the robot arms 3, 4 are designed to set up the bowling pin 2 to a predetermined target position 5, 12. The robot arms 3, 4 can be multi-axis robots , The robot arms 3, 4 can for this purpose have a plurality of arm segments 22, 23, 24. In the illustrated embodiment, the robot arms 3, 4 each comprise a base 20 on which a pedestal 21 is rotatably mounted about a vertical axis of rotation. On the pedestal 21 a Schwenkarmsegment 22 is pivotally mounted. On Schwenkarmsegment 22, a further arm segment 23 is arranged, which may be formed, for example, as Dreharmsegment. At the other arm segment 23, a gripper arm segment 24 is arranged, which has an axis of rotation. On the gripper arm segment 24, a gripping device 25 can be arranged, which can be moved and pivoted in space via a control of the movement axes of the robot arm segments 22, 23, 24. The gripping device 25 may be, for example, a pneumatic, mechanical and / or magnetic gripping device. As can be seen in FIGS. 1-3, 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 a shark least 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. In this way it can be ensured that the robot arms 3, 4 do not hinder a throw of a bowling player or a user of the track 10.

In the exemplary embodiment shown, the device 1 comprises two robot arms 3, 4. Alternatively, only one robot arm or more than two robot arms can be provided. The robot arms 3, 4 are preferably of the same type. Alternatively, two different types of robot arms 3, 4 can be used for the device 1. The robot arms 3, 4 and / or the gripping devices 25 are each non-destructive

demountable, so that they can be partially or completely removed in case of a malfunction and can be replaced by another robot arm or other gripping device 25.

Laterally along the track 10, a ramp, not shown, may extend. The ramp may have a guide rail for the bowling 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 track 10, whereby 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 track 10. Here the bowler can remove the bowling ball 9 from the ball table and use it for the next game.

Furthermore, the device 1 comprises an object recognition device (see FIG. 5), not shown. The object recognition device is designed for detecting 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 track 10 and / or a human and / or an animal. Furthermore, the object recognition device can recognize which orientation the bowling pins 2 have. In other words, the object recognition device is able to detect whether a bowling pin 2 has fallen down or is standing.

The object recognition device can also be designed to detect a position of the bowling pin 2 on the track 10. The object recognition device can, for example, on the robot arm 3, 4, and / or over the robot arm 3, 4 and / or next to the robot arm 3, 4 may be arranged. For this purpose, the object recognition device may comprise a plurality of modules which are arranged at different locations. In order for the object recognition device to always be able to detect a position and / or orientation of the bowling pins 2, the object recognition device can be movably arranged on a travel arrangement. Thus, 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 used for detecting 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 pivotal position of the robot arm 3, 4 be designed.

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. As a sensor, for example, a laser scanner can be used. 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 range, usually at least over the area 13 (Pindeck 13) and the pit 6, whereby a spatial detection of the detection area is carried out. In this case, geometrical data are created by distance measurement by means of the laser beams. Alternatively or in addition to the laser scanner, a camera for detecting the bowling pins 2 and / or the bowling ball 9 and / or the robot arm 3, 4 can be used. The object recognition device may comprise one sensor or a plurality 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 particular bowling pin 7 has in comparison to the other bowling pins 2 of the group a detection feature 8, which is configured in the embodiment shown as a colored, circumferential line 8 on the bowling pin 7.

If the object recognition device recognizes that a person or Animal is within a predetermined safety distance from the robot 3, 4, the control unit connected to the object recognition device may be configured to turn off the robot arm 3, 4. In this way it can be ensured that eg service personnel and the robot arm 3, 4 do not interfere with each other.

In addition, the device 1 comprises a control unit, not shown (see Fig. 5). The control unit is designed to evaluate data and / or signals of the object recognition device, and to control the robot arms 3, 4 as a function of the predetermined desired position 5, 12 of the bowling pin 2, 7 and / or the detected orientation of the bowling pin 2, around the bowling pins 2, 7 to pick up and place on the track 10 or place in the pit 6. If, for example, it is detected by the object recognition device that bowling pins 2 have fallen over, the control unit activates 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 as a function of the detected position of the bowling pin 2, the detected position being a set position 5, 12 and / or an in

Reference to the target position 5, 12 horizontally shifted actual position 11 includes. In addition, the control unit can be designed to control the robot arms 3, 4 as a function of the detected position of the bowling ball 9 in order to grip the bowling ball 9.

It may happen that a bowling pin 2, 7 is moved from its original position on the first roll without falling. This case is illustrated in FIGS. 4B and 4D. The desired position 12 is shown in FIGS. 4B and 4D as a dashed line. After a first throw of a bowling player or user of the track 10, the bowling pin 2 is moved by the bowling ball 9 or another bowling pin 2 to a new position 11 without falling over. This shifted position 11 of the bowling pin 2, 7 is detected by the object recognition device and passed on to the control unit. Before the second litter but the bowling pin 2, 7 should be there, so at the shifted position 11, where he was pushed on the first throw. Characterized in that the control unit, the robot arm 3, 4 can be controlled depending on the detected position of the bowling pin 2, 7, it can be ensured that the bowling pin 2, 7 is placed on the second litter right there or stops exactly where he was moved after the first litter.

The control unit is usually connected to the slide (see Fig. 5), in order to control this. The control unit may be configured to control the slider and the robot arm 3, 4 such that, when a first number of bowling pins 2, 7 has fallen over, the slider projects all bowling pins 2, 7 including a second number of standing bowling pins 2 into the pit 6 pushes. Unlike in the prior art, where standing bowling pins are raised by the Pindeck, and only the fallen bowling pins are pushed into the pit, all bowling pins 2 located on the pin deck 13 are pushed into the pit 6 according to the present application. Subsequently, the Rotoberarm 3, 4 bowling pins 2 from the pit 6, and sets the bowling pins 2 on the detected by the object recognition device positions 5, 11 of the bowling pins 2 out.

Alternatively, it is also possible to dispense with the previously mentioned slider. In this case, the control unit can control the robot arms 3, 4 such that the robot arms 3, 4 pick up the overturned 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 stand on the track 10. The aforementioned activation of the robot arms 3, 4 can in this case take place, in particular, after the first throw of the bowling ball 9 and before the second throw of the bowling ball 9.

The control unit may 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 of the slider are synchronized by the control unit or coordinated with each other. The control unit can control the robot arms 3, 4 so that they move into the rest position. Further, the robot arms 3, 4 can be controlled 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 movement arrangement of the object recognition device. In a further variant, the control unit is connected to the sensor of the gripping device.

For the processing and / or processing of the signals and / or the data of the above-mentioned sensors, the control unit may comprise a microcontroller, a processor, a microprocessor and / or a digital signal processor. In this case, a digital signal processor (DSP) can be designed for continuous processing of digital signals, for example digital signals of the above-mentioned sensors. It can further be provided that the control unit is designed to control one or more of the mentioned sensors.

Furthermore, the control unit may comprise one or more memories, such as e.g. random access memory (RAM), read only memory (ROM), a hard disk, a magnetic storage medium and / or an optical drive. A program may be stored in the memory, e.g. a software for processing or processing the data and / or the signals of one or more of the above-mentioned sensors.

Furthermore, an input means (not shown) (see Fig. 5), which is connected to the control unit, can be provided. About the input means, a user can 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 forwarded to the control unit , The control unit and the input means may e.g. optically connected by means of glass fiber, electrically by means of cabling or via a wireless communication device.

In Fig. 4 various arrangement possibilities of bowling pins 2, 7 are shown. Thus, according to FIG. 4A, ten bowling pins 2, 7, 12 can be arranged in an isosceles triangle. Fig. 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 particular arrangement of bowling pins 2, 7. Furthermore, the present document provides a method for setting up at least one bowling pin 2, 1. The method comprises the steps:

Detecting the bowling pin 2, 7 and an orientation of the bowling pin 2, 7, wherein the orientation of the bowling pin 2, 7 comprises a vertical orientation and a horizontal orientation of the bowling pin 2, 7;

- Grasping the bowling pin 2, 7 by means of a robot arm 3, 4; and

- Setting up of the bowling pins 2, 7 by means of the robot arm 3, 4 to a predetermined target position.

The method may have further steps:

Detecting a position of the bowling pin 2, 7, wherein the detected position comprises a desired position and / or an actual position displaced horizontally with respect to the desired position; and

Moving the robot arm 3, 4 as a function of the detected position of the bowling pin 2, 7.

In addition, additional steps may be provided in the method:

Detecting a position of a second number of vertically oriented bowling pins 2, 7;

- Pushing fallen bowling pins 2, 7 and standing bowling pins 2, 7 in a pit 6;

- Grasping bowling pins 2, 7 by means of the robot arm 3, 4 from the pit 6; and

- Setting up the bowling pins 2, 7 by means of the robot arm 3, 4 on the detected position 11th

The described method can be carried out in particular with the device 1 described above.

FIG. 5 shows a schematic representation of the device 1 for setting up bowling pins 1. In FIG. 5 it can be seen that the control unit 30 is connected to the object recognition device 31, the input device 32, the slider 33 and the robot arm 4. 5 is indicated by dashed lines that the control unit 30 with a step- motor of a car 34 (see below) can be connected. The control unit 30, and the object recognition device 31, the input means 32, the slider 33, the robot arm 4 and / or the stepper motor of the carriage 34 may each be connected to each other optically by means of glass fiber, electrically by means of cabling or via a wireless communication device.

Via the input means 32, the control unit 30 can be informed of an operating state of the robot arm 3, 4. If one of the robot arms 3, 4 is no longer functional due to a defect, e.g. the operating state "inoperative" or "bad" can be entered at the input means 32.

The control unit 30 then controls in dependence on this operating state the respective other robot arm 3, 4, so that the other robot arm 3, 4 assumes the functions of the inoperative robot arm 3, 4. The input means 32 may e.g. a keyboard, a mouse, a touch screen, a cell phone, like a smartphone, or something similar. It is understood that the invention is not limited to a particular input means 32. Alternatively or additionally, means (not shown) for detecting an operating state of the robot arm 3, 4 may 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.

6 shows a schematic representation of a bowling system 100 with a plurality of bowling lanes (raceways) 111, 112, 113, 114, the longitudinal axes of which are aligned parallel to one another. In the example shown are four

Bowling lanes 111, 112, 113, 114 shown. Of course, more or less than four bowling lanes may be provided. The bowling system 100 comprises five robot arms 101, 102, 103, 104, 105, which are arranged stationarily with respect to the bowling lanes 111, 112, 113, 114. For example, at least the robot arms 102, 103, 104 are arranged between two bowling lanes 111, 112, 113, 114. The robot arms 101, 102, 103, 104, 105 may each be attached to a support, 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 control the robot arms 101, 102, 103, 104, 105 individually and control the operation of the robot. coordinating boterarme. The middle three robot arms 102, 103, 104 are respectively configured to grip, hold and deploy bowling pins 2 located on two adjacent bowling lanes. If, for example, robot arms 101 and 103 fail due to interference, bowling pins 2 of the bowling lanes 111, 112 can be picked up and set up by the robot arm 102. By providing redundant robot arms can be ensured that the bowling alleys 111, 112, 113, 114 can be recorded even if a robotic arm or more Rotoberarme are broken and must be repaired. In order to reduce costs, robot arms 101, 103, 105 can alternatively also be dispensed with. In this case, the robot arms 102 and 104 across the bowling pins 2 of the webs 111, 112 and 113, 114 pick up and set up.

Fig. 7 shows a schematic representation of another bowling system

Bowling system 200 differs from bowling system 100 in that a rail system 35 and movable robotic arms 201, 202, 203, 204, and 205 are provided. Alternatively, the bowling system 200 may also include one or more guides for the robotic 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, wherein the rail system 35 at the same height as the bowling lanes 211, 212, 213, 214 (eg next to the bowling lanes) or at a certain height above the bowling lanes 211, 212, 213, 214 may be positioned. The rail system 35 includes e.g. a main rail 36 which extends transverse to a longitudinal axis of the respective bowling lanes 211, 212, 213, 214, and five Abstellschienen 37, which extend parallel to the longitudinal axes of the bowling lanes 211, 212, 213, 214 and are connected to the main rail 36.

In the figure 7 is indicated that the robot arm 204 is located on the Abstellschiene 37. For example, if it is determined that the robot arm

201 is "inoperative" according to an operating condition, the control unit 30 may cause the robot arm 201 to become one of the

Shutdown rails 37 driven and then turned off accordingly the operating state "off" and "bad". In FIG. 7 this is illustrated by means of arrow 38. The now missing robot arm 201 can be compensated by moving the robot arm 202 on the main rail 36. In order for the control unit 30 to know where the individual robot arms or carriages 34 are located, position sensors for detecting a position of the movable robotic arms 201, 202, 203, 204, 205 can be provided. The respective position sensors may for example be mounted on the robot arms 201, 202, 203, 204, 205 or be part of the stepper motors. Alternatively, the object recognition device 33 is used for detecting 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 and the stepper motors of the carriages 34 of the robotic arms 201, 202, 203, 204, 205 depending on their positions. In the illustrated embodiment, the bowling alley 213 is currently not recorded. For this reason, the associated robot arm 204 has been moved to the Abstellschiene 37 by driving the control unit 30 and temporarily turned off. Its operating state is therefore in the illustrated embodiment "good" and "off". The further robot arms 202, 203 and 205 each have the operating state "good" and "on".

In a further embodiment, the carriage 34 is movable on a route provided for this purpose (not shown). The route usually adjoins the bowling lanes 211, 212, 213, 214. The route can e.g. The track is preferably dimensioned such that at least two carriages 34 can travel side by side in the opposite direction, without causing collisions of the two carriages 34. As shown in FIG. The carriage 34 may in this case be self-propelled, i. the carriage 34 has corresponding software and hardware to enable the robotic arm 201, 202,

203, 204, 205 accident-free from one of the bowling lanes 211, 212, 213, 214 to one of the other bowling lanes 211, 212, 213, 214 to drive.

It should be emphasized at this point that features of the above bowling systems 100, 200 can be combined with the features of the device 1 or the features of the above method, and vice versa, as far as these characteristics do not contradict or exclude each other.

LIST OF REFERENCE NUMBERS

1 device for setting up bowling pins

2 bowling pin

3 robot arm

4 robot arm

5 target position

6 pit

7 certain bowling pin

8 detection feature

9 bowling ball

10 career

11 shifted position

12 target position

13 Pindeck

20 base

21 podium

22 swivel arm segment

23 more arm segment

24 gripper arm segment

25 gripping device

30 control unit

31 object recognition device

32 input means

33 pushers

34 cars

35 rail system

36 main rail

37 Shut-off rail

38 arrow

100 bowling system

101 robot arm

102 robot arm robot arm

robot arm

bowling

Bowling system

robot arm

bowling

Claims

claims

Device (1) for setting up at least one bowling pin (2), comprising:

- An object recognition device for detecting the bowling pin (2) and an orientation of the bowling pin (2), wherein the orientation of the bowling pin (2) comprises a vertical orientation and a horizontal orientation of the bowling pin (2), at least one robot arm, which is configured for gripping and holding the bowling pin (2) and setting up the bowling pin (2) to a predetermined target position (5, 12),

a control unit, which is designed to evaluate data and / or signals of the object recognition device, and the robot arm (3, 4) depending on the predetermined target position (5, 12) of the bowling pin (2) and / or the detected orientation of the bowling pin (2 ).

Device (1) according to claim 1, wherein the robot arm (3, 4) is designed to grip and / or set up bowling pins (2) across the tracks.

Apparatus according to claim 2, wherein the robot arm (3, 4) is arranged stationary and is adapted for gripping on adjacent bowling lanes (10) located bowling pins (2).

Device (1) according to one of claims 1 or 2, characterized in that the robot arm (3) is designed to be movable.

Apparatus according to claim 4, characterized in that the robot arm (3) is arranged on or on a movable carriage.

Device according to one of claims 4 or 5, characterized by a position sensor connected to the control unit for detecting a position of the movable robot arm (3, 4), wherein the control unit is designed to control the movable robot arm (3, 4) depending on its position.

Device according to one of the preceding claims, wherein the object recognition device for detecting a position of the bowling pin (2) is configured, and the control unit is adapted to control the robot arm (3, 4) depending on the detected position of the bowling pin (2), wherein the detected Position a target position (5, 12) and / or with respect to the target position (5, 12) horizontally shifted actual position (11).

Device (1) according to one of the preceding claims, characterized by a slide which is designed to push a multiplicity of bowling pins (2) into a pit (6), the control unit being designed to hold the slider and the robot arm (3, 4 ) such that, when a first number of bowling pins (2) has the horizontal orientation, the slider pushes all the bowling pins (2) including a second number of vertically oriented bowling pins (2) into the pit (6), and the robot arm (FIG. 3, 4) only the second number of vertically oriented bowling pins (2) from the pit (6) picks out and on the predetermined target position (5, 12) and / or the detected position sets up.

Device (1) according to one of the preceding claims, wherein the object recognition device is designed for recognizing a specific bowling pin (7) from a group of bowling pins (2), wherein the specific bowling pin (7) comprises a detection feature (8).

Device (1) according to one of the preceding claims, wherein

- The object recognition device for detecting a bowling ball (9) and a position of the bowling ball (9) is configured, the at least one robot arm (3, 4) for gripping and holding the bowling ball (9) and for moving the bowling ball (9) on a predetermined target position is configured, - A control unit which is adapted to control the robot arm (3, 4) depending on the detected position of the bowling ball (9).

Device (1) according to one of the preceding claims, characterized in that the object recognition device on the Robo terarm (3, 4) and / or above and / or next to the Rotoberarm (3, 4) is arranged.

Device (1) according to one of the preceding claims, characterized in that the object recognition device is designed to be movable.

Device (1) according to one of the preceding claims, characterized in that the robot arm (3, 4) has at least one rest position and a gripping position.

Device (1) according to one of the preceding claims, characterized in that the robot arm (3, 4) is designed to be removable without destruction for exchanging the robot arm (3, 4) with another robot arm (3, 4).

Device (1) according to one of the preceding claims, characterized in that it comprises two robot arms (3, 4).

Apparatus according to claim 15, characterized in that the control unit in response to an operating state of a robot arm controls this robot arm and / or the respective other robot arm.

Device (1) according to one of the preceding claims, characterized in that the object recognition device comprises a sensor, a laser scanner, a pushbutton switch or a camera.

18. Bowling system comprising a device (1) according to one of the preceding claims and a substantially horizontally extending bowling lane (10).

19. Bowling system according to claim 18, comprising at least two bowling lanes (10) extending substantially horizontally, the robotic arm (3, 4) being designed to grip and / or set up bowling pins (2) across all lanes. 20. Bowling system according to claim 19, with a movable carriage

(34), wherein the robot arm (3, 4) is arranged on or on the carriage (34).

21. Bowling system according to claim 20, comprising at least one rail (36, 37) or guide, on or in which the carriage (34) is movable.

A bowling system according to claim 19, wherein the robot arm (3, 4) is fixed in relation to the bowling lanes.

The bowling system of any one of claims 18 to 21, wherein a ratio of robotic arms to bowling lanes is less than one. 24. Bowling system according to one of claims 18 to 21, wherein a ratio of robot arms to bowling lanes is greater than one.

25. bowling system according to claim 17 as far as dependent on claim 5, with a ramp extending along the bowling lane (10), wherein the ramp is inclined to the horizontal and a guide rail for a bowling ball (9), wherein the robot arm (3,

4) is designed to place the bowling ball (9) on the ramp.

26. A method for setting up at least one bowling pin (2), comprising the steps:

Detecting the bowling pin (2) and an orientation of the bowling pin (2), wherein the orientation of the bowling pin (2) has a vertical

Orientation and a horizontal orientation of the bowling pin (2) comprises;

Gripping the bowling pin (2) by means of a robot arm (3, 4); and - Setting the bowling pin (2) by means of the robot arm (3, 4) to a predetermined target position (5, 12).

The method of claim 14, further comprising the steps of:

Detecting a position of a second number of vertically oriented bowling pins (2);

- Pushing a first number of horizontally oriented bowling pins (2) and the second number of vertically oriented bowling pins (2) in a pit (6);

Gripping the second number of bowling pins (2) from the pit (6) by means of the robot arm (3, 4); and

- Setting up the bowling pins (2) by means of the robot arm (3, 4) on the detected position.