# US 11,998,808 B2 · Traveling collector > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,808 B2 - Document ID: US11998808B2 - Status: Granted - Kind: B2 - Application number: 17/374,170 - Filed: 2021-07-13 - Published: 2022-01-13 - Granted: 2024-06-04 - Earliest claimed: 2020-07-13 - Assignees: Yamabiko Corporation - Applicants: Yamabiko Corporation - Inventors: Ryota Yamada; Kenji Nakano - Web page: https://patentgrep.com/patent/US11998808B2 ## CPC - A63B 47/021: {for picking-up automatically, e.g. by apparatus moving over the playing surface} - A01D 51/002: {for apples or nuts} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/6486: {by taking into account surface condition, e.g. soiled} - A63B 2024/0053: {for locating an object, e.g. a lost ball} - A63B 2024/0056: {for statistical or strategic analysis} - A63B 2047/022: {Autonomous machines which find their own way around the playing surface} - A63B 2071/0691: {Maps, e.g. yardage maps or electronic maps} - A63B 2102/32: Golf - A63B 2220/12: Absolute positions, e.g. by using GPS - A63B 2220/14: Geo-tagging, e.g. for correlating route or track location data with specific information related to that specific location - A63B 2220/17: Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed - A63B 2220/20: Distances or displacements - A63B 2220/34: Angular speed - A63B 2220/52: Weight, e.g. weight distribution - A63B 2220/62: Time or time measurement used for time reference, time stamp, master time or clock signal - A63B 2220/801: Contact switches - A63B 2220/806: Video cameras - A63B 2220/807: Photo cameras - A63B 2225/15: with identification means that can be read by electronic means - A63B 2225/30: Maintenance - A63B 2225/50: Wireless data transmission, e.g. by radio transmitters or telemetry - G05D 2105/14: {for collecting waste or trash} - G05D 2107/24: {Sports fields, e.g. golf courses} - G05D 2109/10: Land vehicles - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) - A01D: HARVESTING; MOWING - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract To provide a highly reliable, cost-effective traveling collector that can determine the positions of fallen objects, such as balls, on the ground using a simple method, or determine the correct positions of fallen objects, such as balls, on the ground only by improving software and without the need for significant changes to hardware. The traveling collector includes a count sensor as a sensor for detecting the position of each collected ball at a position detected by a satellite positioning system, for example. A controller determines a position, which is obtained by reflecting, based on the positional information on the ball collector at a time point when the ball was counted by touching the count sensor, the movement distance of the ball collector from the time each ball was picked up from the ground by a ball collection wheel till the ball was counted by touching the count sensor in a direction opposite to the traveling direction of the ball collector at that time, as the actual position where each ball was picked up. ## Claims ### Claim 1 A traveling collector for picking up and collecting fallen objects scattered on a surface while traveling on the surface, comprising: a collection member adapted to pick up fallen objects from the surface; a controller configured to perform traveling control of the traveling collector on the surface, and acquire information on a position of the traveling collector detected by a positioning system; and a sensor for detecting that each fallen object picked up by the collection member has been collected, at the position detected by the positioning system, wherein the controller is configured to: determine an actual position where each fallen object was picked up using a movement distance of the traveling collector from a time the fallen object was picked up from the surface by the collection member till the fallen object was detected by the sensor, or using a length of time taken for the fallen object to be detected by the sensor after having been picked up from the surface by the collection member; and store information on the determined actual position. ### Claim 2 (depends on 1) The traveling collector according to claim 1, wherein the controller is configured to determine a position that is obtained by reflecting, based on the information on the position of the traveling collector at a time point when the fallen object was detected by the sensor, the movement distance of the traveling collector from the time the fallen object was picked up from the surface by the collection member till the fallen object was detected by the sensor in a direction opposite to a traveling direction of the traveling collector at that time, as the actual position where each fallen object was picked up. ### Claim 3 (depends on 1) The traveling collector according to claim 1, wherein the controller is configured to determine a position of the traveling collector at a time point earlier than a time point when the fallen object was detected by the sensor by the length of time taken for the fallen object to be detected by the sensor after having been picked up from the surface by the collection member, as the actual position where each fallen object was picked up, based on the information on the position of the traveling collector. ### Claim 4 (depends on 3) The traveling collector according to claim 3, wherein the controller is configured to determine the length of time by dividing the movement distance of the traveling collector from the time the fallen object was picked up from the surface by the collection member till the fallen object was detected by the sensor by a traveling speed of the traveling collector at that time. ### Claim 5 (depends on 1) The traveling collector according to claim 1, wherein: the sensor is a contact-type sensor configured to detect a fallen object picked up by the collection member when the fallen object has touched the sensor, and the controller is configured to determine an actual position where the fallen object was picked up using a movement distance of the traveling collector from a time the fallen object was picked up from the surface by the collection member till the fallen object touched the sensor, or using a length of time taken for the fallen object to touch the sensor after having been picked up from the surface by the collection member. ### Claim 6 (depends on 1) The traveling collector according to claim 1, wherein the controller is configured to send to a management server for the traveling collector information on the actual position where the fallen object was picked up. ### Claim 7 (depends on 1) The traveling collector according to claim 1, wherein the controller is configured to acquire the information on the position of the traveling collector by receiving a positioning signal from a satellite of a satellite positioning system. ### Claim 8 (depends on 1) The traveling collector according to claim 1, wherein the collection member is adapted to pick up fallen objects from a surface by rolling on the surface as the traveling collector travels on the surface. ### Claim 9 (depends on 8) The traveling collector according to claim 8, wherein: the collection member has multiple elongated grooves including a number of annular grooves on an outer circumference of the collection member, each annular groove has a number of pockets formed along a circumferential direction for picking up fallen objects on a surface, and the pockets of the adjacent annular grooves are provided such that the pockets are displaced from each other by a predetermined angle in the circumferential direction. ### Claim 10 (depends on 9) The traveling collector according to claim 9, wherein the sensor includes a single sensor disposed across all of the annular grooves. ### Claim 11 (depends on 9) The traveling collector according to claim 9, further comprising a pectinate releasing member arranged in a manner protruding into each of the annular grooves so as to release fallen objects picked up by the collection member from the collection member, wherein the sensor is disposed on the releasing member. ### Claim 12 (depends on 1) The traveling collector according to claim 1, wherein the sensor is a count sensor for counting fallen objects picked up by the collection member. ### Claim 13 A traveling collector for picking up and collecting balls scattered on a surface while traveling along a traveling path set on the surface in accordance with a predetermined program, comprising: a ball collection wheel adapted to pick up balls from the surface by rolling on the surface; a sensor for detecting that each ball picked up by the ball collection wheel has been collected; and a controller configured to perform traveling control of the traveling collector on the surface, and acquire information on a position of the traveling collector detected by a positioning system, wherein: the controller is configured to: determine an actual position where each ball was picked up using a movement distance of the traveling collector from a time the ball was picked up from the surface by the ball collection wheel till the ball was detected by the sensor, or using a length of time taken for the ball to be detected by the sensor after having been picked up from the surface by the ball collection wheel, and store information on the determined actual position on each ball.