Scoring system

Abstract

A dartboard 14 is mounted to a frame 12. First and second LIDAR sensors 16, 18 and a camera 20 are mounted to the frame. The sensors are located approximately 90 degrees from each other and scan across the surface of the dartboard. A dart sticking to the board is detected by the camera, which then activates the sensors. The sensors detect their distances from the dart and its angular position relative to them. This data is linked to X-Y coordinates in a grid covering the dartboard (fig.7), which are stored in a lookup table of a processor 22. The image taken by the camera is also sent to the camera so that the angle of entry of the dart can be accounted for. The processor also performs an image analysis of the dart to account for a dart’s proximity to a wire frame separating segments of the board. The processor then outputs the location of the dart e.g. to a device such as a mobile phone 24. In another embodiment, two players may play remotely using their own boards and linked by a wide area network such as the internet (fig.6).

Description

Field of the Invention The present invention concerns a scoring system for the game of darts. More particularly, but not exclusively, this invention concerns an automated dartboard scoring system. Background of the Invention The game of darts is traditionally scored by player or referee adding up the points scored by a player, and then subtracting that score from a total. For example, it is typical for players to start with a score of 501, and each throw resulting in points being deducted from that total. The first player to reach zero, finishing with a “double”, wins. The addition and subtraction is typically performed manually, which may lead to some scoring mistakes being made, or the time taken to manually calculate the score making the game last longer than necessary. Various other games may be played, for example trying to score consecutively from 1 to 20 around the board, or many other variations. Various automated scoring systems have been proposed. Soft-tip dartboards include a series of holes into which a soft-tip dart may be thrown and securely received. The soft-tip dart activates an electronic sensor associated with the hole, indicating where on the dartboard the soft-tip dart has been received. However, the game does not present the same feel as the traditional sisal dartboards used with metal-tipped darts, and for skilled players the accuracy of the soft-tip system is not sufficient. Other systems use the traditional sisal dartboard with metal-tipped darts, with three cameras being pointed at the dartboard to detect where a dart lands, and calculate the position of the dart by triangulation between at least two of the cameras and the dart point. Such systems can be expensive, and may suffer from accuracy problems. They also typically require the cameras to be located some distance offset from the scoring surface of the dartboard, which may make such systems difficult to install in certain locations. The present invention seeks to mitigate the above-mentioned problems. Alternatively or additionally, the present invention seeks to provide an improved dartboard scoring system. 10 02 25 Summary of the Invention 5 The present invention provides, according to a first aspect, a dartboard scoring system comprising: a first LIDAR sensor arranged to have a field of view across the scoring surface of a dartboard and configured to detect the position of a dart received by the 10 dartboard. The LIDAR sensor may be arranged to scan across the field of view in order to detect the angular position of a dart relative to the sensor. The LIDAR sensor may be arranged to detect the distance of a dart relative to the sensor by a time of flight calculation. 15 The dartboard scoring system may comprise a processing unit, the processing unit arranged to receive sensor data from the first LIDAR sensor. The processing unit may be configured to determine the position of a dart received by the dartboard on the basis of sensor data. The processing unit may comprise a look-up table where the position of a dart may be calculated from the angular position of the dart relative to 20 the LIDAR sensor and distance from the LIDAR sensor. The look-up table may comprise data which splits the dartboard scoring surface into an X-Y grid, and the angular position of the dart relative to the LIDAR sensor and distance from the LIDAR sensor may locate the dart in the X-Y grid. Each position in the X-Y grid may be linked to a scoring position on the scoring surface of the dartboard, for 25 example the bullseye may be associated with a series of X-Y coordinates, the treble twenty with a series of X-Y coordinates, and so on. The dartboard scoring system may comprise a display unit. The processing unit may be configured to output the position of the dart, and / or indicate the score achieved by the dart, to the display unit. The display unit may be a smart device such 30 as a tablet or phone of a player, or a standalone display unit associated with the dartboard scoring system. The scoring system comprises a second LIDAR sensor arranged to have a field of view across the scoring surface of a dartboard and configured to detect the position of a dart received by the dartboard. The second LIDAR sensor may be disposed in a different position relative to the dartboard to the first LIDAR sensor. For example, taking the bullseye of a dartboard as a centre point, the second LIDAR sensor may be located 90 degrees rotated around the bullseye compared to the first LIDAR sensor. Provision of a second LIDAR sensor may be advantageous when scoring a series of dart throws, particularly when a first dart may block the first LIDAR sensor from detecting a second dart, if the second dart falls directly in line with the first dart relative to the first LIDAR sensor. The processing unit may be configured to receive sensor data from the second LIDAR sensor. The processing unit may be configured to determine the position of a dart received by the dartboard based on a combination of the sensor data from the first LIDAR sensor and second LIDAR sensor. The use of sensor data from the first LIDAR sensor and second LIDAR sensor may result in more accurate placement of the dart being possible. The sensor data from the first LIDAR sensor and second LIDAR sensor may be measuring the position of the dart by detecting the outer barrel of the dart. As the barrel of the dart has a thickness, sensor data from the first LIDAR sensor and second LIDAR sensor may differ in the indicated position of the dart. The processing unit may be configured to average the position of the dart from the indication of position from the first LIDAR sensor and second LIDAR sensor. The dartboard scoring system may comprise a camera with a field of view across the scoring surface of the dartboard. The processing unit may be configured to receive data from the camera. The processing unit may be configured to analyse an image or images received from the camera to verify the position of a dart on the dartboard relative to the location indicated by the first LIDAR sensor and potentially second LIDAR sensor. The processing unit may be configured to determine the angle of the dart relative to the scoring surface of the board. The angle of the dart relative to the scoring surface of the board may be used to further refine the indicated position of the dart. For example, where a dart has hit the board squarely, at a 90 degree angle relative to the scoring surface of the board, there may be no need to refine the indicated position of the dart. However, if the dart has hit the board at a steep angle, for example 45 degrees relative to the scoring surface of the board, it may be necessary adjust the indicated position of the dart to account for the angle and where needle of the dart has entered the board. The camera and processing unit may be configured to detect events such as dart “bounce outs”. A “bounce-out” occurs where, for example, a dart tip hits the scoring wire of a dartboard and bounces back rather than being securely received by the dartboard. The camera may be configured to have a relatively high frame rate, for example 60 frames per second, in order to detect a bounce-out occurring. The dartboard scoring system may comprise a frame to which one or more of the first LIDAR sensor, second LIDAR sensor, and camera may be mounted. The frame may comprise one or more lights, for example a light strip, arranged to illuminate the dartboard. The dartboard scoring system may comprise a surround arranged to receive errant darts which do not hit the dartboard. Such an arrangement may protect the area surrounding the dartboard. The dartboard scoring system may comprise a mount for mounting a dartboard. The mount may be arranged to correctly position a dartboard relative to one or more of the first LIDAR sensor, second LIDAR sensor, and camera . The mount may comprise a magnetic or ferromagnetic plate. The magnetic or ferromagnetic plate may be configured to securely fasten to a corresponding plate on the rear surface of the dartboard. The mount may comprise a locating pin, so the centre of the dartboard is located at the centre of the mount. The use of a magnetic plate may ensure that the dartboard is squarely mounted to the mount, providing a flat scoring surface and assisting in accurate location of darts via the scoring system. The positioning of the dartboard radially may require calibration step to ensure the scoring segments are correctly located. For example, the camera may be used to check the scoring segments are correctly located, and if not, the processing unit may output a correction instruction to adjust the position of the dartboard. The correction instructions may be output to the display unit during the calibration process. The camera and processing unit may be configured to check the position of the scoring segments at regular or irregular intervals, and in the event of detecting the scoring segments have moved out of the correct position, send correction instructions to the calibration unit. For example, a regular checking schedule may be linked to a set number of darts being thrown per checking cycle, and an irregular checking schedule may be determined by a checking process being initiated every time the dartboard scoring system is turned on and / or a new game is started. The dartboard scoring system may comprise a dartboard. According to a second aspect of the invention there is also provided a method of scoring a game of darts, the method comprising the steps of: 10 02 25 detecting the position of a dart received on a scoring surface of a dartboard with a first LIDAR sensor, comparing the detected position of the dart to a look-up table comprising a score allocated to each position on the scoring surface of the dartboard, outputting the score obtained by the dart received by the scoring surface of the dartboard. The score may be output to a display unit, for example a smart device such as a phone or a tablet. The score may be output to and displayed on a screen located close to the dartboard, which may allow a player and others to view the score achieved. The method further comprises the step of detecting the position of a dart received on a scoring surface of a dartboard with a second LIDAR sensor. The method may comprise the step of averaging the indicated position of the dart based on positions indicated by the first LIDAR sensor and second LIDAR sensor. The method may comprise the step of verifying the position of the dart received on the scoring surface of the dartboard with a camera. The method may comprise the step of determining the angle at which the dart has been received by the scoring surface of the dartboard with a camera. The determination of the angle at which the dart has been received by the scoring surface of the dartboard may entail the use of a trigonometric formula. The method may comprise the step of refining the indicated position of the dart based on the detected angle at which the dart has been received by the scoring surface of the dartboard. The method may comprise the step of the camera detecting a dart has been received by the scoring surface of the dartboard. The method may comprise the step of the camera detecting a dart has been received by the scoring surface of the dartboard, and triggering the first LIDAR sensor or first LIDAR sensor and second LIDAR sensor to detect the position of the dart. The method may comprise the step of a player or referee correcting the score if the score indicated by the position of the dart as detected by the first LIDAR sensor, second LIDAR sensor, or camera is incorrect. The method may comprise the step of refining the look-up table on the basis of corrected scores input by a player or referee. The method may comprise the use of an artificial intelligence system and / or a machine learning process to refine the determination of the position of the dart on the basis of the corrected scores input by a player or referee. The method may comprise the step of adjusting the look-up table and correlated scores output on the basis of the corrected scores input by a player or referee. It will of course be appreciated that features described in relation to one aspect of the present invention may be incorporated into other aspects of the present invention. For example, the method of the invention may incorporate any of the features described with reference to the apparatus of the invention and vice versa. Description of the Drawings Embodiments of the present invention will now be described by way of example only with reference to the accompanying schematic drawings of which: Figure 1 shows a front view of a dartboard scoring system according to a first embodiment of the invention; Figure 2 shows a side view of the dartboard scoring system of figure 1; Figure 3 shows the frame of the dartboard scoring system of figure 1; Figure 4 shows the rear side of a dartboard of the dartboard scoring system; Figure 5 is a flowchart of the method steps of a method of scoring a game of darts according to an embodiment of the invention; Figure 6 shows an additional embodiment where two dartboard scoring systems are being used to allow remote games; and Figure 7 shows a schematic illustration of the grid system and the correspondence with the position data received from the LIDAR sensors. Detailed Description Figures 1 and 2 show a dartboard scoring system 10. The dartboard scoring system 10 comprises a frame 12 to which a dartboard 14 is mounted. A first LIDAR sensor 16, second LIDAR sensor 18, and camera 20, are mounted to the frame 12. Each of the first LIDAR sensor 16, second LIDAR sensor 18, and camera 20 are located in approximately the same plane as the scoring surface of the dartboard 14, and each has a field of view extending across the scoring surface of the dartboard 14. The first LIDAR sensor 16 and second LIDAR sensor 18 are located approximately the same distance from the bullseye of the dartboard 14, and oriented at an angle of 90 degrees from one another rotated around the bullseye. The camera 20 is positioned in between the first LIDAR sensor 16 and second LIDAR sensor 18. A processing unit 22 is also mounted to the frame 12, and each of the first LIDAR sensor 16, second LIDAR sensor 18, and camera 20, are wired to the processing unit 22 and arranged to send sensor data to the processing unit 22. The first LIDAR sensor 16 and second LIDAR sensor 18 are configured to scan across the scoring surface of the dartboard 14. When a dart is thrown at the dartboard 14 and received by the scoring surface, this will first be detected by the camera 20 and an image will be taken by the camera 20. The camera 20 then activates the first LIDAR sensor 16 and second LIDAR sensor 18. Each LIDAR sensor will detect the distance from the sensor to the dart, and the angular position of the dart relative to the sensor. This data is sent to the processing unit 22. The processing unit 22 comprises a look-up table. The scoring surface of the dartboard 14 is split into an X-Y grid, in which each coordinate in the X-Y grid is allocated a score depending on the section of the dartboard 14 the coordinate corresponds to. For example, the coordinates that are located in the bullseye section of the dartboard are allocated the score 50. The coordinates that are located in the treble twenty section of the dartboard are allocated the score 60, and so on. The angular position and distance from the sensor data provided by the first LIDAR sensor 16 and second LIDAR sensor 18 are linked to corresponding coordinates in the X-Y grid. The processing unit 22 compares the data received from the first LIDAR sensor 16 and second LIDAR sensor 18 to the look-up table, and outputs the score of the dart as a result. Due to the thickness of the dart barrel, the position indicated by the first LIDAR sensor 16 and second LIDAR sensor 18 may differ, and the processing unit 22 is configured to average the position of the dart if this is the case. Figure 7 shows a schematic representation of the grid system, though with the grid squares being significantly larger than would be the case in reality. However, the principle of the grid system is demonstrated. In the embodiment shown, the processing unit 22 wirelessly transmits the score to a smart device 24. The smart device 24 may be a phone or tablet of a person playing the game of darts, or may be a tablet device mounted in close proximity to the dartboard scoring system 10, allowing the player to see their score during the game. The camera 20 takes an image of the dart received by the dartboard and sends this to the processing unit 22. The processing unit 22 performs an image analysis on the image in order to determine the angle at which the dart has been received by the scoring surface of the dartboard 14. The angle is then taken into account by the processing unit 22, and if necessary the indicated position of the dart is adjusted. The processing unit 22 also performs an image analysis on the image in order to verify that the score indicated by the processing unit 22 as a result of the data received from the first LIDAR sensor 16 and second LIDAR sensor 18 is correct. This step may be particularly useful when the dart is near the wire frame which divides the various scoring sections of the scoring surface of the dartboard 14, and / or when the dart hits the scoring surface at an angle. Where the dart hits the scoring surface of the dartboard 14 at a steep angle, the actual point of entry of the needle of the dart may be offset to the position of the barrel of the dart, and the image analysis allows for refinement of the indicated position of the dart. Conventionally, each player will throw three darts per turn, and the dartboard scoring system 10 is arranged to monitor and score each of the three throws, prior to switching and doing the same for the next player. Many alternative games may be played, with the dartboard scoring system providing the position of each dart that is thrown, and an app receiving the position of the darts and scoring whichever game has been selected by a player. The smart device 24 is configured to allow a player or referee to provide inputs to the processing unit during use of the dartboard scoring system. For example, if the dartboard scoring system 10 incorrectly scores a dart, a player or referee may be able to note this and provide a corrected score via the smart device 24. The processing unit 22 may comprise a artificial intelligence unit which collects correction data and refines analysis of the LIDAR sensor data and the correlation with X-Y coordinates and scoring locations if necessary. The frame 12 further comprises an LED light strip 26 running around the inside of a hooded top section of the frame, the LED light strip arranged to illuminate the scoring surface of the dartboard 14. In a further embodiment of the invention, as shown in figure 6, a second dartboard scoring system 10’ may be provided, substantially identical to the first dartboard scoring system 10, but situated in another location. The first dartboard scoring system 10 is being used by a first player and the second dartboard scoring system 10’ is being used by a second player. Both the first player and second player has a smart device, for example a phone or a tablet, with an app running on each smart device and interacting with one another via the internet 60. The app is configured to receive scoring data from the first dartboard scoring system 10 and the second dartboard scoring system 10’, therefore allowing the first player and second player to compete against each other despite being at separate locations. The app may be configured to have many different game modes, and additional users may also take part via additional similar dartboard scoring systems. Alternatively or additionally, the app may allow others to watch the games being played remotely. Figure 3 shows the frame 12 with the dartboard 14 removed, and figure 4 shows the rear side of the dartboard 14. The frame 12 comprises a ferromagnetic mounting sheet 28, with a locating pin 30. The rear of the dartboard 14 is fitted with a magnetic mounting sheet 32 with a locating aperture 34. The ferromagnetic mounting sheet 28 provides a flat planar surface, as does the magnetic mounting sheet 32. The locating pin 30 and locating aperture 34 are aligned when the dartboard 14 is mounted to the frame 12, ensuring the dartboard 14 is centrally located, and the planar surfaces of the ferromagnetic mounting sheet 28 and magnetic mounting sheet 32 ensures the scoring surface is correctly oriented, and flat relative to the LIDAR sensors and camera. The dartboard scoring system 10 has a configuration mode when a game of darts is initiated, with the camera 20 taking an image of the dartboard 14 and the processing unit 24 performing an image analysis of the image to determine whether the scoring sectors of the dartboard are correctly positioned. If the scoring sections are not correctly positioned, the dartboard scoring system 10 outputs a correction instruction, which would typically involve rotating the dartboard 14 one way or the other to ensure the sectors are correctly positioned. The position verification is repeated until the dartboard 14 is correctly positioned, at which point the correct positioning indicated, for example audibly or visually. Figure 5 shows a method of scoring a game of darts according to an embodiment of the invention. In the first step 100, a dart is thrown at the scoring surface of a dartboard 14. The camera 20 detects the dart being received by the scoring surface of the dartboard 14, takes an image of the dart received by the scoring surface of the dartboard 14, and triggers the first LIDAR sensor 16 and second LIDAR sensor 18 to take a reading. The first LIDAR sensor 16 and second LIDAR sensor 18 have a field of view across the scoring surface of the dartboard 14, and detect where the dart is received by the scoring surface. The angular position of the dart and distance from the respective LIDAR sensors is sent to the processing unit 22 in the second step 102. In the third step 104, the processing unit 22 compares the data received from the LIDAR sensors to a look-up table which comprises a series of grid references corresponding to the data received from the LIDAR sensor. Each of the grid references corresponds to a scoring position on the dartboard 14, and the processing unit outputs the score achieved by the dart in step 106. The method may further include the optional step 108 of the angle of the dart relative to the scoring surface of the dartboard 14 being determined by an image analysis conducted by the processing unit 22 on the image of the dart taken by the camera 20. Depending on the angle of the dart relative to the scoring surface of the dartboard 14, the scoring position of the dart may be adjusted. The method may further include an optional step 110 of a player or referee correcting the score output by the processing unit 110, with an artificial intelligence being used for refining the correspondence between the LIDAR sensor data, the angle of the dart relative to the scoring surface of the dartboard 14, and the look-up table coordinates and scoring determinations as a result of the corrections. An additional embodiment of the invention may comprise a dartboard scoring system 10 similar to that described with reference to figures 1 and 2, with the addition of a player position verification unit. As described above, the dartboard scoring system 10 allows for players to compete against each other whilst in different locations and using different dartboards. The player position verification unit is configured to eliminate the possibility of a player obtaining an undue advantage by standing too close to the dartboard. The player position verification unit comprises a sensor and emitter arranged to project a light beam at the required oche line for the particular requirements of the game. For example, the oche line for beginner games may be closer to the dartboard than the oche line for advanced games. When the dartboard is being used, with the player throwing darts that are being scored by the dartboard scoring system, the player position verification unit is configured to detect whether the player is standing at the correct oche line. If the player crosses the light beam during a turn, the sensor of the player verification unit will detect this, and adjust the score allocated to the player’s throw accordingly. Additionally or alternatively, the player verification unit may comprise a camera pointed at the player, therefore allowing a remote player to watch the player take their throws, and see player position, reactions and the suchlike. The player position verification unit may also include a microphone and / or speakers to allow the players to communicate verbally during a game. Whilst the present invention has been described and illustrated with reference to particular embodiments, it will be appreciated by those of ordinary skill in the art that the invention lends itself to many different variations not specifically illustrated herein. By way of example only, certain possible variations will now be described. In alternative embodiments, one or more of the first LIDAR sensor, second LIDAR sensor, or camera may be arranged to send data wirelessly to a processing unit. The processing unit may form part of the frame of the dartboard scoring system, or may be remote from the frame. For example, the processing unit may form part of a smart device on which the scores of the dart game is also displayed. It will be appreciated that the position of the first LIDAR sensor and second LIDAR sensor may be oriented at an angle greater than 90 degrees rotated around the bullseye. The position of the first LIDAR sensor and second LIDAR sensor may be oriented at an angle less than 90 degrees rotated around the bullseye. The camera may be positioned opposite the first LIDAR sensor or second LIDAR sensor, or any other suitable position. In an alternative embodiment, there may be only a single LIDAR sensor used to detect the position of darts received by the scoring surface of the dartboard. A single LIDAR sensor can resolve the position of a dart without a second LIDAR sensor being required, though there may be occasional issues of darts being missed due to blocking by an earlier thrown dart. Such occasions may be spotted by a camera verifying the presence of a thrown dart, and image analysis of a dart seen by the camera may allow the position of the dart to be indicated. Where in the foregoing description, integers or elements are mentioned which have known, obvious or foreseeable equivalents, then such equivalents are herein incorporated as if individually set forth. Reference should be made to the claims for determining the true scope of the present invention, which should be construed so as to encompass any such equivalents. It will also be appreciated by the reader that integers or features of the invention that are described as preferable, advantageous, convenient or the like are optional and do not limit the scope of the independent claims. Moreover, it is to be understood that such optional integers or features, whilst of possible benefit in some embodiments of the invention, may not be desirable, and may therefore be absent, in other embodiments. 10 02 25

Claims

1. A dartboard scoring system comprising:a first LIDAR sensor arranged to have a field of view across a scoring surface5 of a dartboard and configured to detect the position of a dart received by the dartboard; anda second LIDAR sensor arranged to have a field of view across the scoring surface of a dartboard and configured to detect the position of a dart received by the dartboard.

102. A dartboard scoring system as claimed in claim 1, further comprising a processing unit, the processing unit arranged to receive sensor data from the first LIDAR sensor.15 3. A dartboard scoring system as claimed in claim 2, wherein the processing unitis configured to receive sensor data from the second LIDAR sensor.

4. A dartboard scoring system as claimed in any of claims 2 or 3, wherein the processing unit is configured to determine the position of a dart received by the20 dartboard based on the sensor data received from the first LIDAR sensor, or sensor data received from the first LIDAR sensor and second LIDAR sensor.

5. A dartboard scoring system as claimed in any preceding claim, further comprising a camera with a field of view across the scoring surface of the dartboard.

256. A dartboard scoring system as claimed in claim 5 when dependent on claim 2, wherein the processing unit is configured to receive data from the camera and perform an image analysis in order to determine the angle at which a dart has been received by the scoring surface of the dartboard.

307. A dartboard scoring system as claimed in claim 6, wherein the camera and processing unit are configured to detect dart bounce outs.10 02 258. A dartboard scoring system as claimed in any preceding claim, further comprising a frame to which one or more of the first LIDAR sensor, second LIDAR sensor, and camera may be mounted.5 9. A dartboard scoring system as claimed in claim 8, wherein the framecomprises one or more lights arranged to illuminate the dartboard.

10. A dartboard scoring system as claimed in any preceding claim, further comprising a surround arranged to receive errant darts which do not hit the dartboard.1011. A dartboard scoring system as claimed in any preceding claim, further comprising a mount for mounting a dartboard.

12. A dartboard scoring system as claimed in claim 11, wherein the mount 15 comprises a magnetic or ferromagnetic plate.

13. A dartboard scoring system as claimed in any preceding claim, further comprising a dartboard.20 14. A method of scoring a game of darts, the method comprising the steps of:detecting the position of a dart received on a scoring surface of a dartboard with a first LIDAR sensor,detecting the position of a dart received on a scoring surface of a dartboard with a second LIDAR sensor,25 comparing the detected position of the dart to a look-up table comprising ascore allocated to each position on the scoring surface of the dartboard,outputting the score obtained by the dart received by the scoring surface of the dartboard.

15. A method as claimed in claim 14, further comprising the step of outputting the 30 score obtained by the dart based on an average of the detected position of the dart as indicated by the first LIDAR sensor and second LIDAR sensor.LO CXICXI16. A method as claimed in claim 14 or 15, further comprising the step of verifying the position of the dart received on the scoring surface of the dartboard with a camera.5 17. A method as claimed in any of claims 14 to 16, the method comprising thestep of determining the angle at which the dart has been received by the scoring surface of the dartboard by image analysis of an image taken by a camera.

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