Traveling recycling machine

Abstract

A traveling recovery machine is highly reliable and cost-effective. It can determine the position of objects such as balls that have fallen on the ground by a simple method, or can accurately determine the position of objects such as balls that have fallen on the ground by improving software without major hardware changes. For example, a counting sensor (27) is provided at a position detected by a satellite positioning system as a sensor for detecting the position of each ball that has been recovered. Based on the position information of the ball recovery machine (1) at the time when the ball abuts against the counting sensor (27) and is counted, the controller (50) reflects the amount of the moving distance (La) of the ball recovery machine (1) from the time when the ball is picked up from the ground by the ball recovery wheel (5) to the time when the ball abuts against the counting sensor (27) and is counted, and sets the position after the direction opposite to the driving direction of the ball recovery machine (1) at that time as the actual position where the ball is picked up.

Description

Technical Field

[0001] The present invention relates to a traveling recovery machine that picks up and recovers objects (fallen objects) such as golf balls, tennis balls, nuts, containers, etc. that have fallen and scattered on the ground while traveling, for example, and relates to a traveling recovery machine that can receive positioning signals (GPS signals, etc.) from satellites that constitute a satellite positioning system and obtain position information of the traveling recovery machine. Background Art

[0002] For example, as described in Patent Documents 1 and 2, there is known a self-propelled (also referred to as an automatic) ball recovery machine called a ball picker that recovers a plurality of golf balls scattered on the ground while traveling on a golf training ground or the like.

[0003] As can be seen in the above-mentioned patent documents 1 and 2, the ball recovery machine generally comprises: a ball recovery wheel that picks up balls from the ground by rotating on the ground; and a recovery box in which the balls picked up by the ball recovery wheel are sent and stored. Moreover, recently, a device for counting the number of balls sent from the ball recovery wheel to the recovery box by providing a contact counting sensor, specifically a pressure sensor, between the ball recovery wheel and the recovery box has been put into practical use.

[0004] It should be noted that, as described in Patent Document 3, as a ball recovery wheel of the ball recovery machine, the following device is known: it has multiple disks with multiple grooves including multiple annular grooves, and multiple ball pockets for picking up balls on the ground are formed in each annular groove at equal angular intervals along the circumferential direction.

[0005] Patent Document 1: Patent Publication No. 2963571

[0006] Patent document 2: International Publication No. 00 / 78410

[0007] Patent Document 3: Japanese Utility Model Application Laid-Open No. 50-53061

[0008] Patent Document 4: Japanese Patent Application Publication No. 2008-220935 Summary of the invention

[0009] In the ball recovery machine having the function of counting the number of recovered balls as described above, a controller using a microcomputer is usually provided, and the controller counts and summarizes the number of balls based on the signal from the counting sensor. Specifically, when the ball contacts the counting sensor and the signal (level) from the counting sensor exceeds a predetermined threshold value, the controller counts the number of recovered balls as an increase of 1. When the number of balls counted (the total number) by the controller reaches a certain number (when it is estimated that the recovery box is full), the ball recovery machine interrupts the ball recovery operation and returns to the station, unloads the balls in the recovery box to the specified ball storage place, and continues the ball recovery operation again.

[0010] However, recently, in order to efficiently perform ball recovery operations, it is considered to accurately grasp the dispersion (distribution) status of balls, ball-dense areas, etc. For example, as described in Patent Document 4, there is known a device that collects ball density distribution information before ball recovery operations, detects the position of the ball recovery machine in the operation area from an area with a high ball distribution rate (density) using, for example, a satellite positioning system, and performs ball recovery operations.

[0011] However, in the technology described in Patent Document 4, for example, the ball density distribution information is created by observing the pattern of balls on the working area for a certain period of time using a visual sensor such as a camera that monitors the status of the working area, a sensor for monitoring the number of balls collected within a specified range, etc., but the actual position of each ball picked up (actual position information of the ball) required for the creation of the ball density distribution information cannot be accurately obtained. In addition, although the position of the ball recovery machine in the working area can be detected using a satellite positioning system, etc., a specific method for obtaining the actual position information of the ball using the satellite positioning system is not clear.

[0012] Therefore, as one of the specific methods, the inventors have considered the following method: a receiver with an antenna is provided on the ball recovery machine for receiving positioning signals (e.g., GPS signals) from satellites constituting a satellite positioning system, and based on the received positioning signal (e.g., GPS signal), the time point when the ball abuts the counting sensor and the signal (level) from the counting sensor exceeds a predetermined threshold, in other words, the position information (latitude, longitude information) of the time point identified as the time point when the ball is picked up is set as the position where the ball is picked up.

[0013] However, the position information at the time when the ball contacts the counting sensor and is recognized as being picked up will deviate from the actual position of the ball. That is, the ball recovery machine moves a considerable distance from the time when the ball is picked up from the ground by the ball recovery wheel to the time when it contacts the counting sensor, and the position information will have an error in the amount of the movement distance in the direction of travel of the ball recovery machine.

[0014] The present invention has been completed in view of the above-mentioned situation, and its purpose is to provide a traveling recovery machine as follows: it can determine the position of fallen objects such as a ball on the ground by a simple method, or it can accurately determine the position of fallen objects such as a ball on the ground by only improving the software without major changes to the hardware, and it has high reliability and excellent cost-effectiveness.

[0015] In order to achieve the above-mentioned purpose, the travel-type recycling machine of the present invention is basically a travel-type recycling machine that picks up and recovers fallen objects scattered on the ground while traveling on the ground, and is characterized in that the travel-type recycling machine comprises: a recycling component that picks up fallen objects from the ground; a controller that controls the travel of the travel-type recycling machine on the ground and obtains the position information of the travel-type recycling machine detected by a positioning system; and a sensor that detects that each fallen object picked up by the recycling component has been recovered at the position detected by the positioning system.

[0016] In a preferred embodiment, the controller uses the moving distance of the travel-type recovery machine from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, or the length of time required from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, to calculate the actual position of the fallen object picked up, and stores the calculated actual position information.

[0017] In other preferred embodiments, the controller, based on the position information of the travel-type recovery machine at the time when the fallen object is detected by the sensor, reflects the moving distance of the travel-type recovery machine from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, and sets the position in the direction opposite to the driving direction of the travel-type recovery machine at that time as the actual position where the fallen object is picked up.

[0018] In other preferred embodiments, the controller, based on the position information of the travel-type recovery machine, traces back from the time point when the fallen object is detected by the sensor to the time point of the length of time required from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, and sets the position of the travel-type recovery machine as the actual position where the fallen object is picked up.

[0019] Furthermore, in a preferred embodiment, the controller calculates the time length by dividing the moving distance of the traveling recovery machine from when the fallen object is picked up from the ground by the recovery component to when it is detected by the sensor by the traveling speed of the traveling recovery machine at that time.

[0020] In another preferred embodiment, the sensor is a contact sensor that detects the fallen object picked up by the recovery component by the contact therewith, and the controller uses the moving distance of the travel recovery machine from the time the fallen object is picked up from the ground by the recovery component to the time it contacts the sensor, or the length of time required from the time the fallen object is picked up from the ground by the recovery component to the time it contacts the sensor, to calculate the actual position of the fallen object picked up.

[0021] In another preferred embodiment, the controller transmits actual position information of the fallen object picked up to a management server for the travel-type recovery machine.

[0022] In another preferred embodiment, the controller receives positioning signals from satellites constituting a satellite positioning system to obtain position information of the travel-type recovery machine.

[0023] In another preferred embodiment, the recovery component is rotated on the ground by the traveling recovery machine traveling on the ground to pick up fallen objects from the ground.

[0024] In another preferred embodiment, the recovery component has a plurality of grooves including a plurality of annular grooves on the outer circumference, and in each of the annular grooves, a plurality of bags for picking up fallen objects on the ground are formed along the circumferential direction, and the bags in adjacent annular grooves are staggered at a specified angle in the circumferential direction.

[0025] In another preferred embodiment, the sensor is composed of a single sensor that spans all of the annular grooves.

[0026] In another preferred embodiment, in order to release the fallen objects picked up by the recovery member from the recovery member, a comb-tooth-shaped release member is arranged in a state of protruding into each of the annular grooves, and the sensor is arranged on the release member.

[0027] In another preferred embodiment, the sensor is a counting sensor for counting fallen objects picked up by the recovery component.

[0028] In addition, a more specific embodiment of the travel-type recovery machine of the present invention is basically a travel-type recovery machine that picks up and recovers balls scattered on the ground while traveling on a travel path set on the ground according to a predetermined program, characterized in that the travel-type recovery machine comprises: a ball recovery wheel that picks up balls from the ground by rotating on the ground; a sensor for detecting that the balls picked up by the ball recovery wheel have been recovered; and a controller that controls the travel of the travel-type recovery machine on the ground and obtains position information of the travel-type recovery machine detected by a positioning system, the controller uses the moving distance of the travel-type recovery machine from the time when the ball is picked up from the ground by the ball recovery wheel to the time when it is detected by the sensor, or the length of time required from the time when the ball is picked up from the ground by the ball recovery wheel to the time when it is detected by the sensor, to calculate the actual position of the picked up ball, and stores the calculated actual position information of the ball.

[0029] Effects of the Invention

[0030] The travel-type recovery machine of the present invention is equipped with a sensor composed of a counting sensor for detecting the position of each fallen object (ball, etc.) that has been recovered, at a position detected by a satellite positioning system, for example, so that the position of the fallen object on the ground, such as the ball, can be obtained by a simple method. In addition, the actual position of the picked up fallen objects is obtained, for example, by using the moving distance of the travel-type recovery machine from the time when the fallen object (ball, etc.) is picked up from the ground by the recovery component (ball recovery wheel) to the time when it is counted by the counting sensor, or the length of time required from the time when the fallen object (ball, etc.) is picked up from the ground by the recovery component (ball recovery wheel) to the time when it is counted by the counting sensor, and the actual position information obtained is stored. For example, based on the position information of the traveling recovery machine at the time when the falling object (ball, etc.) contacts the counting sensor and is counted, the moving distance of the traveling recovery machine from the time when the falling object (ball, etc.) is picked up by the recovery component (ball recovery wheel) from the ground to the time when the falling object (ball, etc.) contacts the counting sensor and is counted is reflected in the direction opposite to the travel direction of the traveling recovery machine at that time (subtraction), thereby obtaining the actual position of the falling object (ball, etc.) picked up, or, for example, obtaining the position information of the traveling recovery machine from the time when the falling object (ball, etc.) contacts the counting sensor and is counted, tracing back to the time when the falling object (ball, etc.) is picked up by the recovery component (ball recovery wheel) from the ground to the time when the falling object (ball, etc.) contacts the counting sensor and is counted, and setting the position information as the actual position of the falling object (ball, etc.) picked up. Therefore, a traveling recovery machine with high reliability and excellent cost-effectiveness can be provided, which can accurately obtain the position of the falling object on the ground such as a ball by improving the software without major changes in hardware.

[0031] In addition, since the position of the balls etc. can be accurately determined, the dispersion (distribution) of the balls etc., the ball-dense areas, etc. can be accurately understood, and as a result, the recovery operation of the balls etc. can be performed more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is an overall perspective view showing an embodiment of a ball recovery machine as a traveling type recovery machine according to the present invention.

[0033] Figure 2 is from Figure 1 A three-dimensional view of the ball recovery machine with the ball recovery wheel cover removed.

[0034] Figure 3 is Figure 2 In the ball recovery machine, the III-III sectional view of the machine cover is omitted.

[0035] Figure 4 yes Figure 2 An enlarged stereoscopic view of a portion of the ball recovery wheel in FIG.

[0036] Figure 5 yes Figure 3 Magnified cross-sectional view of the ball recovery wheel in FIG.

[0037] Figure 6 yes Figure 5 A cross-sectional view taken along the VI-VI line.

[0038] Figure 7 Yes Figure 5 A view of a portion of the cross-section along the circumferential direction of the portion viewed in the direction VII-VII, after being unfolded into a plane.

[0039] Figure 8 It is shown in detail Figure 3 Exploded perspective view of the counting sensor and ball release component parts.

[0040] Fig. 9 It is shown that the use Figure 1 Schematic diagram of the ball recovery machine's operating area, driving path, stations, etc.

[0041] Fig.10 This is a functional block diagram for explaining the processing contents of the controller included in the ball recovery machine according to the embodiment.

[0042] Fig.11 This is a flowchart showing an example of a position information correction routine executed by the controller.

[0043] Fig.12 : is a flowchart showing another example of the position information correction routine executed by the controller.

[0044] Fig.13: is a schematic diagram showing an example of a ball density distribution map created based on actual position information of the ball.

[0045] Fig.14 It is a schematic diagram showing an example of a virtual work area.

[0046] Fig.15 This is a diagram for explaining the definition of the vicinity of a storage location or a virtual work area (priority work area).

[0047] Fig.16 This is a schematic diagram showing an example of dividing an area where normal work is performed and an area where no work is performed.

[0048] Description of Reference Numerals

[0049] 1…ball recovery machine (traveling recovery machine); 2…machine cover; 3…recovering machine body; 5…ball recovery wheel (recovering component); 6…traveling machine body; 7…ball release component; 8…recovery box; 16…multiple grooves; 17…annular groove; 18…ball bag; 19…disc; 27…counting sensor; 43…disc rotation speed sensor; 44…receiver; 46…wireless communication device; 50…controller; 51…timing unit; 52…rotation speed calculation unit; 53…ball counting unit; 54…position information acquisition unit; 56…correction information acquisition unit; 57…position information correction unit; 58…storage unit; 60…traveling control unit; 65…station; 70…management server; 72…external storage device; La…moving distance; Ja…time length; M…ball density distribution map; U…non-operating area; W…operating area; Z…virtual operating area. DETAILED DESCRIPTION

[0050] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0051] Figure 1 This is an overall perspective view showing an embodiment of a ball recovery machine as a traveling type recovery machine according to the present invention.

[0052] The ball recovery machine 1 shown in the figure is an unmanned self-driving ball recovery machine, which recovers balls while automatically traveling on the ground where a plurality of balls are scattered. The ball recovery machine 1 is typically used to recover a plurality of golf balls scattered on the ground at an exposed golf training ground. The ball recovery machine 1 has a machine cover 2 that opens downward. The machine body 3 is covered by the machine cover 2.

[0053] A receiver 44 with an antenna for receiving positioning signals (e.g., GPS signals) from satellites constituting a satellite positioning system is provided on the body cover 2 (the ball recovery wheel cover 4 in the example shown in the figure), and a control unit for transmitting the management server 70 ( Fig. 9 , Fig.10) and the ball recovery machine 1 are connected to a wireless communication device 46 via a wireless line (e.g., wireless LAN).

[0054] In addition, a controller 50 (described in detail later) for performing driving control, etc. is provided in the machine cover 2. The controller 50 functionally includes a position information acquisition unit 54 ( ) for acquiring position information (latitude and longitude information) of the ball recovery machine 1 based on a positioning signal (e.g., GPS signal) received by the receiver 44. Fig.10 ).

[0055] It should be noted that, here, the satellite positioning system is used to receive positioning signals (e.g., GPS signals) from satellites constituting the satellite positioning system and obtain the position information of the ball recovery machine 1, but the method of obtaining the position information of the ball recovery machine 1 is not limited to this. For example, a position detection device such as a camera may be pre-installed in the operation area where the ball recovery machine 1 is used as a positioning system, and the position information of the ball recovery machine 1 in the operation area may be obtained (detected) using a signal (captured image, etc.) from the position detection device.

[0056] Figure 2 Shown from Figure 1 The ball recovery machine 1 is in a state where the ball recovery wheel cover 4 on the machine body cover 2 is removed. The ball recovery wheel cover 4 is removable relative to the machine body cover 2. When the ball recovery wheel cover 4 is removed, the ball recovery wheel 5 is exposed, so it is convenient for maintaining the ball recovery wheel 5.

[0057] like Figure 3 As shown, the recovery machine body 3 includes a traveling body 6 as a body that can move on the ground, ball recovery wheels 5 , a ball release member (also called an extruder) 7 , and a recovery box 8 .

[0058] like Figure 3 As shown, the traveling machine body 6 includes: a frame 9; a pair of left and right driving wheels 10, 10 arranged at the rear of the frame 9; a driving unit 11 that drives the driving wheels 10, 10; a pair of left and right steering wheels 12, 12 arranged at the front of the frame 9; and a steering adjustment unit 13 that controls the steering wheels 12, 12. The driving unit 11 includes a battery 14 as a power source, and driving motors 15, 15 for driving the left and right driving wheels 10, 10 to which power is supplied from the battery 14. The driving wheels 10, 10 are driven to rotate by the driving unit 11, so that the traveling machine body 6 moves, and is automatically controlled according to a predetermined program, so that the traveling direction of the traveling machine body 6 is automatically changed so that the traveling machine body 6 travels fully in the area where ball recovery is required.

[0059] The ball recovery wheel 5 is disposed between a pair of steering wheels 12, 12 and a pair of driving wheels 10, 10 in the front-rear direction of the ball recovery machine 1. The ball recovery wheel 5 is rotatable around an axis X extending in the left-right direction of the traveling machine body 6, and the outer peripheral surface is supported by the frame 9 in a manner of always being in contact with the ground G due to its own weight. In addition, the ball recovery wheel 5 is driven forward by the traveling machine body 6, so that the ball recovery wheel 5 recovers a plurality of balls B scattered on the ground G while rotating on the ground G.

[0060] like Figure 4 As shown, the ball recovery wheel 5 has a plurality of annular grooves 16 (including a plurality of annular grooves 17) on the outer circumference. Ball pockets 18 that allow the ball B to enter and exit due to elasticity are continuously formed along the circumferential direction in each of the annular grooves 17 constituting the plurality of grooves 16. Figure 3 As shown, each ball pocket 18 is sized to hold only one ball B. Furthermore, the ball pockets 18 of adjacent annular grooves 17 , 17 are formed at positions offset by a predetermined angle in the circumferential direction of the annular groove 17 .

[0061] If you continue to refer to Figure 4 As known, the ball recovery wheel 5 is formed by a collection of multiple disks 19 of the same structure, and annular grooves 17 are formed at equal intervals between adjacent disks 19, 19. Each disk 19 has multiple mounting shafts 21 with spacers 20 on one side, and has shaft receiving holes (not shown) for receiving the mounting shafts 21 on the other side. In addition, by combining the mounting shafts 21 of adjacent disks 19, 19 with the shaft receiving holes, multiple disks 19 are accumulated at equal intervals. An annular groove 17 is formed between adjacent disks 19, 19 by spacers 20. A receiving support shaft 22 is formed in the center of each disk 19 (refer to Figure 3 ) of the protrusion 23, and the support shaft insertion hole 24 is formed in the ball recovery wheel 5 by the collection of the protrusion 23. The support shaft 22 (refer to Figure 3 ) is rotatably supported on the frame 9.

[0062] like Figure 5 As shown, the frame 9 of the traveling body 6 is fixed with a ball release member (extrusion member) 7. As described later, the ball release member 7 cooperates with the partition ridge 31 that demarcates the ball bag 18, and forcibly releases the ball B in the ball bag 18 at a predetermined angle position on the outer periphery of the ball recovery wheel 5.

[0063] As reference Figure 5 as well as Figure 8As can be seen, the ball release member 7 is a comb-tooth-shaped member as a whole, and includes a base 25 extending in the left-right direction of the traveling body 6 and a plurality of ball release protrusions 26 extending in parallel at equal intervals from the base 25. The intervals between the ball release protrusions 26 are the same as the intervals between the discs 19 (in other words, the annular grooves 17) of the ball recovery wheel 5. The base 25 of the ball release member 7 is fixed to the frame 9 at an upper position of the ball recovery wheel 5, and each ball release protrusion 26 protrudes into each annular groove 17 of the ball recovery wheel 5. That is, the comb-tooth-shaped ball release member 7 is arranged in a state of protruding into each annular groove 17 constituting the plurality of grooves 16.

[0064] The contact type counting sensor 27 for counting the number of balls B released from the ball pocket 18 by the ball releasing protrusion 26 is fixed to the lower surface of the base 25 of the ball releasing member 7 by bonding or other methods. The counting sensor 27 is composed of a single elongated plate-shaped pressure sensor using a piezoelectric element, and extends in the left-right direction along the base 25 of the ball releasing member 7 in a manner spanning (all) the annular grooves 17, and has a length corresponding to the axial length of the ball recovery wheel 5. In addition, the counting sensor 27 is arranged on the track of the ball B guided in the radial direction of the ball recovery wheel 5 (disk 19) by the ball releasing protrusion 26 and the partitioning ridge 31 of the ball releasing member 7. Therefore, the ball B released from the ball recovery wheel 5 by the ball releasing member 7 reliably hits the counting sensor 27. Therefore, the counting of the balls B by the counting sensor 27 can be accurately performed.

[0065] In the present embodiment, the count sensor 27 is composed of a single pressure sensor across (all) the annular grooves 17, but it may be independently provided for each annular groove 17. In addition, the count sensor 27 may be provided at a location other than the ball release member 7.

[0066] like Figure 3 , Figure 5 as well as Figure 8 As shown, a recovery box 8 including a bottom plate 8a, side plates 8b, 8c, and a front plate 8d is provided behind the ball release member 7. The side plates 8b, 8c of the recovery box 8 are supported by a frame 9 of the traveling machine body 6, and receive the ball B released from the ball recovery wheel 5 by the ball release member 7. Figure 3 As shown, the bottom plate 8a of the recovery box 8 is installed to be able to move vertically and horizontally, and by moving to the ball discharge position below, a gap is formed between the bottom plate 8a of the recovery box 8 and the rear plate 28, and the balls B are discharged from the gap. In addition, in the recovery box 8, a full box detector 41 (refer to FIG. 4 ) is provided (swinging freely) for detecting that the plurality of balls B that have been recovered are full. Figure 8 ).

[0067] As reference Figure 4 , Figure 6 as well as Figure 7As can be seen, the outer ridges 29 extending in the circumferential direction, the inner ridges 30 extending in the circumferential direction, and the partition ridges 31 extending in the radial direction between the outer ridges 29 and the inner ridges 30 are formed on both surfaces of each disk 19 constituting the ball recovery wheel 5. An annular groove 17 whose bottom is demarcated by the inner ridges 30 is formed between adjacent disks 19, 19, and a fan-shaped ball pocket 18 is demarcated and formed in the annular groove 17 by the outer ridges 29, the inner ridges 30, and the partition ridges 31. The outer ridges 29, the inner ridges 30, and the partition ridges 31 also have the function of providing the thin plate-shaped disks 19 with the strength required as the ball recovery wheel 5.

[0068] As mentioned above, each bag 18 is sized to hold only one ball B. Figure 6 As shown, the inner surfaces 18a of each ball pocket 18 facing each other (the side surfaces facing adjacent disks 19, 19) are flat surfaces, and the lateral width of each ball pocket 18 is set so that the ball B can move along the flat surface 18a in each ball pocket 18. Each disk 19 is formed of a lightweight and durable material such as plastic, and has elastic deformation at least in the radially outer portion of the inner ridge 30. Due to the elastic deformation of each disk 19, the ball B is allowed to enter and exit each ball pocket 18, and the ball B can be held by each ball pocket 18.

[0069] like Figure 6 As shown in FIG. 1 , the outer ridges 29 protrude outward from the outer peripheral edge of each disk 19 in the thickness direction of the disk 19. The outer ridges 29 define the entrance and exit portions of each ball bag 18 from which the balls B cannot fall out. The protruding height of the outer ridges 29 is set so that the interval L between the outer ridges 29, 29 of the adjacent disks 19, 19 is slightly smaller than the diameter of the balls B. Thus, due to the elastic deformability of the disk 19, the balls B can pass between the outer ridges 29, 29 and enter and exit the ball bags 18, and the balls B that have entered the ball bags 18 are retained in the ball bags 18 as long as the forced release action of the ball release member 7 does not work.

[0070] Likewise Figure 6 As shown, the inner ridge 30 is formed from the outer ridge 29 to the inner side of the disk 19 in the radial direction with a length substantially the same as the diameter of the ball, and protrudes from the side surface of each disk 19 to the outer side in the thickness direction of the disk 19. The inner ridge 30 defines the bottom of the ball pocket 18. Therefore, the inner ridge 30 is not limited in height like the outer ridge 29, and the height of the inner ridge 30 is sufficient as long as the ball release protrusion 26 of the ball release member 7 can protrude into the gap between the inner ridges 30, 30 of the adjacent disks 19, 19.

[0071] like Figure 4 and Figure 5As shown, the partition ridges 31 extend in the radial direction between the outer ridges 29 and the inner ridges 30, and divide the annular groove 17 at equal angular intervals in the circumferential direction to define the ball pockets 18. In the example shown in the figure, each annular groove 17 is divided into 17 ball pockets 18 by the partition ridges 31. The number of ball pockets 18 in each annular groove 17 is not limited. However, in order to reliably release the ball B from each ball pocket 18 by the cooperation between the ball release member 7 and the partition ridges 31, each ball pocket 18 needs to be sized to hold only one ball B.

[0072] like Figure 7 As shown, each ball pocket 18 of the adjacent annular grooves 17, 17 is formed at a position staggered by a predetermined angle in the circumferential direction of the annular groove 17. In the example shown in the figure, the partition ridges 31 formed at equal angle intervals on the two surfaces of each disk 19, 19 are formed at positions staggered by a predetermined angle along the circumferential direction between the two surfaces of each disk 19, 19. Figure 7 As shown, by assembling a plurality of disks 19 of the same structure so that the mutually opposed partition ridges 31, 31 of adjacent disks 19, 19 are mutually aligned in the circumferential direction, the respective ball pockets 18 of adjacent annular grooves 17, 17 can be formed to be offset at a predetermined angle in the circumferential direction of the annular groove 17. Therefore, the ball recovery wheel 5 can be easily manufactured.

[0073] like Figure 5 As shown, when the traveling body 6 moves forward, the ball recovery wheel 5 which is always in contact with the ground G and can rotate freely moves in the Figure 5 The ball bag 18 rotates counterclockwise when viewed from the center. As a result, a plurality of balls B scattered on the ground G enter and are held in the ball bag 18 due to the elastic deformability of the ball bag 18 (i.e., the balls B on the ground are picked up). The balls B held in the ball bag 18 are transferred upward by the rotation of the ball recovery wheel 5 accompanying the forward movement of the traveling body 6, and are pressed by the ball release protrusion 26 of the ball release component 7. Through the further rotation of the ball recovery wheel 5, the balls B in the ball bag 18 are guided upward along the partition ridge 31 behind the rotation direction of the ball recovery wheel 5, and after abutting against the counting sensor 27 mounted on the lower surface of the base 25 of the ball release component 7, they are transported into the recovery box 8 and fall.

[0074] It should be noted that the recovery machine body 3 is provided with a mechanism (not shown) that makes the ball recovery wheel 5 float and support from the ground. When the ball recovery operation as described above is not performed, for example, when the recovery box 8 is full and returns to the station 65 ( Fig. 9 ) or when making a U-turn or other direction change, the ball recovery wheel 5 is lifted off the ground.

[0075] In the ball recovery machine 1 of the present embodiment, each ball pocket 18 of the adjacent annular grooves 17, 17 of the ball recovery wheel 5 is located at a position staggered by a predetermined angle along the circumferential direction of the annular groove 17, so the ball B is held in the ball pockets 18 of the adjacent annular grooves 17, 17 at a position staggered by a predetermined angle along the circumferential direction of the annular groove 17. Therefore, the situation in which the balls are simultaneously held at mutually identical positions on the circumferences of the adjacent annular grooves does not occur. Therefore, when releasing from the ball pockets 18, the ball holding force does not become too strong, and the ball B can be reliably released by the ball release member 7.

[0076] In addition, in the entirety of the plurality of annular grooves 17, the balls B are not held at mutually identical positions on the circumference of the annular grooves 17, and therefore, it is difficult for the release timing of the plurality of balls B by the ball release member to be consistent. Therefore, the problem of the rotation of the ball recovery wheel 5 stopping does not occur.

[0077] In addition, if Figure 5 As shown, a counting sensor 27 is provided on the track of the ball B guided in the radial direction of the disk 19 formed by the ball releasing protrusion 26 of the ball releasing member 7 and the partitioning ridge 31, so that the ball B released from the ball recovery wheel 5 by the ball releasing member 7 reliably hits the counting sensor 27. Therefore, the number of recovered balls B can be accurately grasped. In addition, each ball pocket 18 of the adjacent annular grooves 17, 17 is located at a position staggered by a predetermined angle along the circumferential direction of the annular groove 17, so that the balls B in each ball pocket 18 of the adjacent annular grooves 17, 17 hit the counting sensor 27 at mutually staggered timings. Therefore, the counting sensor 27 can accurately count the balls B.

[0078] In addition to the above configuration, the ball recovery machine 1 of this embodiment is equipped with a controller 50 using a microcomputer for driving control, ball count summary control, ball position information correction, etc. The controller 50 includes a CPU, an input / output circuit, and a storage unit (ROM, RAM, nonvolatile memory, HDD, SDD, etc.). The storage unit stores programs and various data, and executes the specified programs stored in the storage unit, thereby functioning as a functional processing unit required for autonomous driving control, position information acquisition, etc.

[0079] exist Fig. 9 As shown in the use Figure 1As illustrated in the schematic diagram of the working area W, driving path R, and station 65 of the ball recovery machine 1, the ball recovery machine 1 of this embodiment starts according to a predetermined program and first moves toward a predetermined starting point S of the working area W (for example, composed of buried wires, etc.), and then travels from the starting point S along the driving path R set in the working area W (for example, traveling from east to west, turning around when reaching the end, and traveling from west to east in the north-south direction at an interval smaller than the width of the ball recovery wheel 5, and similarly, traveling everywhere in the working area W in a zigzag shape before the end point E) to perform ball recovery operations. During the ball recovery operation, when the counted number of balls (total number) reaches a certain number (when it is presumed that the recovery box 8 is full), the ball recovery operation is interrupted and returned to the station 65, the balls in the recovery box 8 are unloaded at the predetermined ball storage place 66, and the ball recovery operation is continued again.

[0080] The station 65 is provided with a charging stand 67 for charging the ball recovery machine 1 and a management server 70. The management server 70 and the ball recovery machine 1 are connected by a wireless line (eg, wireless LAN), and may be connected by a wire as needed.

[0081] Here, referring to Figure 5 , while explaining the problems of this embodiment.

[0082] Based on the positioning signal (e.g., GPS signal) from the satellite constituting the satellite positioning system, the time point at which the ball contacts the counting sensor 27 and the signal (level) from the counting sensor 27 exceeds a predetermined threshold value, in other words, the position (ball Be) at the time point recognized as the time point at which the ball is picked up deviates from the position (ball Ba) at which the ball is actually picked up. That is, the ball recovery machine 1 moves the outer circumferential arc length La of the ball recovery wheel 5 by the central angle θ formed by the ball Ba-support shaft 22-ball Be from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball contacts the counting sensor 27, and the position information thereof generates an error of the movement distance La in the traveling direction of the ball recovery machine 1.

[0083] The main purpose of this embodiment is to correct the position information of the ball recovery machine 1 at the time when the ball abuts against the counting sensor 27 and is counted, and obtain the actual position of the picked-up ball (actual position information of the ball).

[0084] In order to achieve the above main purpose, the controller 50 Fig.10 As shown in the functional blocks, the driving controller includes a timing unit 51 , a rotation speed calculation unit 52 , a ball counting unit 53 , a position information acquisition unit 54 , a correction information acquisition unit 56 , a position information correction unit 57 , a storage unit 58 , and a travel control unit 60 .

[0085] The timing unit 51 starts timing when the power of the controller 50 is turned on (started), continues to measure the elapsed time while the power is on, and ends timing when the power is turned off. One measurement unit of the timing unit 51 is, for example, 10 μs, and the elapsed time from the start time of the controller 50 corresponding to the "time" is obtained from the timing unit 51 in units of one hundred thousandth of a second.

[0086] The rotation speed calculation unit 52 calculates the rotation speed of the ball recovery wheel 5 (or the equivalent travel speed of the ball recovery machine 1) based on the signal from the disk rotation speed sensor 43 of the rotation speed of the detection disk 19, and sends the calculated rotation speed (or travel speed) to the correction information acquisition unit 56.

[0087] The ball counting unit 53 determines whether the signal from the counting sensor (pressure sensor) 27 exceeds a predetermined threshold value. If it is determined that the signal exceeds the threshold value, the balls are deemed to have been recovered, the number of recovered balls is counted incrementally, and the meaning of the incremental count and the time point when the threshold value is exceeded are sent to the correction information acquisition unit 56.

[0088] The position information acquisition unit 54 acquires the position information of the ball recovery machine 1 at predetermined time intervals (for example, every hundredth of a second) based on the positioning signal (for example, GPS signal) received by the receiver 44 , and sends the acquired position information to the correction information acquisition unit 56 .

[0089] In order to find the actual position where the ball is picked up, the correction information acquisition unit 56 acquires information for correcting the position information of the ball recovery machine 1 at the time when the ball abuts against the counting sensor 27 and is counted. As the correction information, the moving distance La of the ball recovery machine 1 from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball abuts against the counting sensor 27 and is counted, the time length Ja required from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball abuts against the counting sensor 27 and is counted, the position information obtained from the position information acquisition unit 54, the travel direction of the ball recovery machine 1, the travel speed of the ball recovery machine 1 or the rotation speed of the ball recovery wheel 5, etc. are used.

[0090] The position information correction unit 57 uses the information obtained by the correction information acquisition unit 56 to correct the position information of the ball recovery machine 1 at the time when the ball abuts the counting sensor 27 and is counted, and obtains the actual position of the picked up ball (actual position information of the ball) (described later).

[0091] The storage unit 58 stores the actual position information of the ball corrected by the position information correction unit 57, and transmits the stored actual position information of the ball to the management server 70 via the wireless communication device 46. As the transmission period, it can be transmitted once every time one ball is recovered, or it can be transmitted collectively when returning to the station 65, or it can be transmitted collectively when the operation is completed. It should be noted that in addition to the method of transmitting and storing the actual position information of the ball to the management server 70 used for the ball recovery machine 1 as described above, the actual position information of the ball can also be stored in an external storage device 72 such as a memory card that can be inserted and removed from the controller 50.

[0092] The travel control unit 60 performs steering control to adjust the rotation speed of the left and right travel motors 15, 15 so that the machine can travel along the travel path R set in the work area W according to a predetermined program. In addition, when the ball counting unit 53 sends full information that the counted ball count (total count) reaches a certain number, the rotation speed of the left and right travel motors 15, 15 is adjusted to make the ball recovery machine 1 interrupt the ball recovery operation and return to the station 65, unload the balls in the recovery box 8 to the specified ball storage place 66, and continue the ball recovery operation again. In addition, the travel control unit 60 can also use the actual position information of the balls (or the ball density distribution map and virtual work area described later) sent to the management server 70 in the travel control of the ball recovery machine 1.

[0093] Next, an example of a position information correction routine mainly executed by the position information acquisition unit 54, the correction information acquisition unit 56, and the position information correction unit 57 in the controller 50 will be described with reference to the flowchart. Fig.11 ) and another example ( Fig.12 ).

[0094] When the controller 50 is powered on, Fig.11 , Fig.12 The position information correction routine shown is repeatedly executed at a predetermined cycle.

[0095] exist Fig.11 In the example of the position information correction routine shown, after starting, it is determined whether the signal Sv from the counting sensor 27 exceeds the predetermined threshold value Ls (whether Sv is actually lower than Ls) in step S81. If it does not exceed the threshold value Ls, the process ends, and if it exceeds the threshold value Ls, the process proceeds to step S82 to obtain the position information of the time point when the threshold value Ls is exceeded, in other words, the time point when the ball is recognized to be picked up.

[0096] In the next step S83, the driving direction is obtained based on the change in position information (latitude and longitude information), the current driving route, the steering state, and the like.

[0097] In the next step S84, based on the position information of the time point at which the ball is identified as being picked up obtained in step S82, the moving distance La of the ball recovery machine 1 from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball is abutted against the counting sensor 27 and counted is reflected in the direction opposite to the driving direction of the ball recovery machine 1 at that time (for example, in the case of driving to the west, the amount of the moving distance La is returned to the east side) so as to be corrected and the actual position of the picked up ball (actual position information of the ball) is obtained. In other words, based on the position information of the ball recovery machine 1 at the time when the ball is abutted against the counting sensor 27 and counted, the position after the amount of the moving distance La of the ball recovery machine 1 from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball is abutted against the counting sensor 27 and counted is reflected in the direction opposite to the driving direction of the ball recovery machine 1 at that time is set as the actual position of the picked up ball (actual position information of the ball).

[0098] In step S85, the actual position information of the ball corrected in step S84 is stored, and the process ends.

[0099] exist Fig.12 In another example of the position information correction routine shown in FIG. 1 , after the start, it is determined whether the signal Sv from the count sensor 27 exceeds a predetermined threshold value Ls (whether Sv is actually lower than Ls) in step S91. If it does not exceed the threshold value Ls, the process ends, and if it exceeds the threshold value Ls, the process proceeds to step S92, and the time point when the threshold value Ls is exceeded (the time point when the threshold value is exceeded) is stored.

[0100] In the next step S93, the travel speed of the ball recovery machine 1 is calculated based on the signal from the disk rotation speed sensor 43. It should be noted that the travel speed can also be obtained based on changes in position information (latitude and longitude information), steering conditions, and the like.

[0101] In the next step S94, the moving distance La is divided by the traveling speed calculated in step S93 (La / traveling speed) to calculate the time length Ja required from the time the ball is picked up from the ground by the ball recovery wheel 5 (the position of the ball Ba) to the time it contacts the counting sensor 27 and is counted (the position of the ball Be).

[0102] In the next step S95, based on the position information obtained from the position information acquisition unit 54, the position of the ball recovery machine 1 from the time point when the ball abuts against the counting sensor 27 and is counted, that is, the time point exceeding the threshold value stored in step S92 to the time point traced back by the time length Ja is calculated, and this position is set as the actual position where the ball is picked up (actual position information of the ball). In other words, based on the position information of the ball recovery machine 1 obtained from the position information acquisition unit 54, the position of the ball recovery machine 1 from the time point when the ball abuts against the counting sensor 27 and is counted to the time point traced back by the time length Ja required from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball abuts against the counting sensor 27 and is counted is set as the actual position where the ball is picked up (actual position information of the ball).

[0103] In step S96, the actual position information of the ball obtained in step S95 (corrected position information) is stored, and the process ends.

[0104] It should be noted that, in the above-mentioned embodiment, although two examples of the position information correction method are listed ( Fig.11 and Fig.12 ), but is certainly not limited to them.

[0105] It should be noted that it can be used in Fig.11 Step S85 or Fig.12 The actual position information of the ball obtained in step S95 is as follows: Fig.13 As shown in the schematic diagram, a ball density distribution map M showing the dispersion (distribution) of balls, ball-dense areas, etc. is created. Here, the ball density distribution map M is structured to be divided into three areas: a ball-dense area M1 where balls are dense (high density distribution), a ball-dense area M2 where balls are not dense (low density distribution), and a ball-non-dense area M3 where balls are almost not dense (density distribution is approximately zero). Fig.13 The map shown is an example, and the classification of the ball density distribution map M is of course not limited to this. By using such a ball density distribution map M for the travel control of the ball recovery machine 1, the ball recovery work can be performed more efficiently.

[0106] In addition, the ball density distribution map M (or the actual position information of the ball) can also be used, such as in Fig.14As illustrated in the schematic diagram, a virtual operation area Z is created. As an example, a priority operation area Z1 (an area where ball recovery operations are prioritized) in the virtual operation area Z can be created near the ball storage area 66, and a non-priority operation area Z2 and a non-operation area U can be created around the priority operation area Z1. In addition, as another example, a priority operation area Z1 (an area where ball recovery operations are prioritized) in the virtual operation area Z can be created in the operation area W, and a ball storage area 66 is set near it. For example, it is considered that the priority operation area Z1 is set as a ball-intensive area M1 including a ball density distribution map M, the non-priority operation area Z2 is set as a ball-inefficient area M2 including a ball density distribution map M, and the non-operation area U is set as a ball-inefficient area M3 other than the ball-intensive area M1 and the ball-inefficient area M2 of the ball density distribution map M. By using this virtual operation area Z for the travel control of the ball recovery machine 1, the ball recovery operation can be performed more efficiently.

[0107] It should be noted that the “nearby” of the storage location 66 and the “nearby” of the virtual work area Z (priority work area Z1) refer to the area of ​​the priority work area Z1 when the area thereof is 2:1 (a:b) and the circle centered on the storage location 66 is drawn. Fig.15 When the priority operation area Z1 is larger than the other areas (c) of the operation area W (see Fig.15 ).

[0108] The ball density distribution map M and virtual working area Z can be created inside the controller 50 of the ball recovery machine 1, or created by the management server 70 that receives the actual position information of the ball, or created by the operator based on the actual position information of the ball and then input into the controller 50 of the ball recovery machine 1 and the management server 70.

[0109] As is clear from the above description, the ball recovery machine (travel recovery machine) 1 of this embodiment has a counting sensor 27 as a sensor for detecting the position of each ball that has been recovered, for example, at a position detected by a satellite positioning system, so that the position of the ball on the ground can be obtained by a simple method. And, for example, the moving distance La of the ball recovery machine 1 from when the ball (fallen object) is picked up from the ground by the ball recovery wheel (recovery component) 5 to when it is counted by the counting sensor 27, or the time length Ja required from when the ball (fallen object) is picked up from the ground by the ball recovery wheel (recovery component) 5 to when it is counted by the counting sensor 27, is used to obtain the actual position of the picked up ball, and the actual position information obtained is stored. For example, based on the position information of the ball recovery machine 1 at the time when the ball abuts against the counting sensor 27 and is counted, the amount of the movement distance La of the ball recovery machine 1 from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball abuts against the counting sensor 27 and is counted is reflected (returned) in the direction opposite to the travel direction of the ball recovery machine 1 at that time, thereby obtaining the actual position of the picked up ball, or, for example, obtaining the position information of the ball recovery machine 1 at the time when the ball abuts against the counting sensor 27 and is counted, tracing back the time length Ja required from the time when the ball is picked up from the ground by the ball recovery wheel 5 to the time when the ball abuts against the counting sensor 27 and is counted, and setting the position information as the actual position of the picked up ball. Therefore, a ball recovery machine 1 with high reliability and excellent cost-effectiveness can be provided, which can accurately obtain the position of the ball on the ground by improving the software without major changes in hardware.

[0110] In addition, since the position of the ball can be accurately determined, the dispersion (distribution) of the balls, the ball-dense areas, etc. can be accurately understood, and as a result, the ball recovery operation can be performed more efficiently.

[0111] It should be noted that in the above-mentioned embodiment, the following example is described: for example, at the position detected by the satellite positioning system, the ball recovery machine 1 is provided with a counting sensor 27 for counting the number of balls in the recovery box 8 as a sensor for detecting that each ball picked up has been recovered (detecting the position of each ball that has been recovered), and the counting sensor 27 detects that the ball has been recovered to determine the position of each ball. However, the ball recovery machine 1 can also be a method of having a weight sensor for measuring the weight of the balls in the recovery box 8 and a sensor for determining the position of each ball by detecting that the ball has been recovered by the weight sensor. In addition, the ball recovery machine 1 can also be a method of having a sensor for counting the number of balls in the recovery box 8 and a sensor for determining the position of each ball by detecting that the ball has been recovered by the sensor. As such a sensor, a method of detecting by physical means such as a button, a method of detecting by laser, a method of detecting by an image of a camera, etc. can be considered. In addition, it is preferred that a method of detecting even an expensive ball that is not equipped with an IC chip can be detected. In this case, it is sufficient to detect that the ball has been recovered by the sensor. In particular, the ball recovery machine 1 is suitable for unmanned autonomous driving.

[0112] In addition, in the case where the sensor of the above-described embodiment is not used to create the ball density distribution map M and Fig.16 In the case of the mode in which the user sets the virtual frame P or virtual frame Q and divides it into the work area W and the non-work area U to set the virtual work area Z and prioritizes work in the priority work area Z1 as shown in the schematic diagram, normal work such as working in the work area W and the virtual frame P can be performed, or normal work such as working in the work area W without intruding into the virtual frame Q can be performed. In this case, the virtual frame P or virtual frame Q can be formed on the ball density distribution map M in a simple shape.

[0113] As other embodiments of this embodiment, the traveling body 6 can be moved by manpower such as a hand-pushing type or a pulling type in addition to the automatic traveling type based on power. In addition, the ball recovery wheel 5 can be set to a type in which the ball recovery wheel 5 itself has a rotational driving force in addition to rotating along with the traveling body 6. In addition, the place (area) where the ball recovery machine 1 is used, the type of balls recovered, etc. are not limited to the above examples.

[0114] In addition, in the above-mentioned embodiment, the recycled object is an example of a golf ball, but the present embodiment is not limited to golf balls, and the recycled object can be similarly applied even if it is a tennis ball, a baseball, a nut, a container, etc.

[0115] The embodiments of the present invention are described in detail above, but the specific configuration is not limited to these embodiments, and even design changes that do not deviate from the scope of the present invention are also included in the present invention. In addition, the above-mentioned embodiments can be combined using each other's technology as long as there are no special contradictions or problems in their purposes and configurations.

Claims

1. A traveling recycling machine that picks up and recovers fallen objects scattered on the ground while traveling on the ground, characterized in that: The travel-type recycling machine comprises: A recovery component for picking up fallen objects from the ground; A controller for controlling the travel of the travel-type recovery machine on the ground and acquiring position information of the travel-type recovery machine detected by a positioning system; as well as A sensor is used to detect that each fallen object picked up by the recovery component has been recovered at the position detected by the positioning system, The controller uses the moving distance of the travel-type recovery machine from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, or the length of time required from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, to calculate the actual position of the fallen object picked up, and stores the calculated actual position information.

2. The traveling recycling machine according to claim 1, characterized in that: The controller, based on the position information of the travel-type recovery machine at the time when the fallen object is detected by the sensor, reflects the moving distance of the travel-type recovery machine from the time when the fallen object is picked up from the ground by the recovery component to the time when it is detected by the sensor, and sets the position in the direction opposite to the driving direction of the travel-type recovery machine at that time as the actual position where the fallen object is picked up.

3. The traveling recycling machine according to claim 1, characterized in that: Based on the position information of the traveling recovery machine, the controller traces back from the time when the fallen object is detected by the sensor to the time when the fallen object is picked up from the ground by the recovery component and is detected by the sensor, and sets the position of the traveling recovery machine as the actual position where the fallen object is picked up.

4. The traveling recycling machine according to claim 3, characterized in that: The controller obtains the time length by dividing the travel distance of the traveling recovery machine from when the fallen object is picked up from the ground by the recovery member to when it is detected by the sensor by the travel speed of the traveling recovery machine at that time.

5. The traveling recycling machine according to any one of claims 1 to 4, characterized in that: The sensor is a contact sensor that detects the fallen object when the fallen object picked up by the recovery component abuts against the sensor. The controller uses the moving distance of the travel-type recovery machine from the time when the fallen object is picked up from the ground by the recovery component to the time when it contacts the sensor, or the length of time required from the time when the fallen object is picked up from the ground by the recovery component to the time when it contacts the sensor, to calculate the actual position of the fallen object picked up.

6. The traveling recycling machine according to any one of claims 1 to 4, characterized in that: The controller transmits actual position information of the fallen object picked up to a management server for the travel-type recovery machine.

7. The traveling recycling machine according to any one of claims 1 to 4, characterized in that: The controller receives positioning signals from satellites constituting a satellite positioning system to obtain position information of the travel-type recovery machine.

8. The traveling recycling machine according to any one of claims 1 to 4, characterized in that: The recovery member is rotated on the ground by the traveling recovery machine traveling on the ground to pick up fallen objects from the ground.

9. The traveling recycling machine according to claim 8, characterized in that: The recovery component has a plurality of grooves including a plurality of annular grooves on the outer circumference. In each of the annular grooves, a plurality of bags for picking up fallen objects on the ground are formed along the circumferential direction. The bags in adjacent annular grooves are staggered at a specified angle in the circumferential direction.

10. The traveling recycling machine according to claim 9, characterized in that: The sensor is constituted by a single sensor spanning all of the annular grooves.

11. The traveling recycling machine according to claim 9, characterized in that: In order to release the fallen objects picked up by the recovery member from the recovery member, a comb-tooth-shaped release member is arranged in a state of protruding into each of the annular grooves, and the sensor is arranged on the release member.

12. The traveling recycling machine according to any one of claims 1 to 4, characterized in that: The sensor is a counting sensor for counting the fallen objects picked up by the recovery part.

13. A traveling recovery machine, which picks up and recovers balls scattered on the ground while traveling on a travel path set on the ground according to a predetermined program, characterized in that: The travel-type recycling machine comprises: a ball recovery wheel for picking up balls from the ground by rotating on the ground; a sensor for detecting that a ball picked up by the ball recovery wheel has been recovered; as well as A controller controls the travel of the travel-type recovery machine on the ground and obtains the position information of the travel-type recovery machine detected by the positioning system. The controller uses the moving distance of the travel-type recovery machine from the time the ball is picked up from the ground by the ball recovery wheel to the time it is detected by the sensor, or the length of time required from the time the ball is picked up from the ground by the ball recovery wheel to the time it is detected by the sensor, to calculate the actual position of the picked up ball, and stores the calculated actual position information of the ball.

Images