Elevator feeder

Abstract

An elevator feeder for providing balls to a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; and an elevation mechanism for elevating the balls in a sequential manner from the reservoir to a ball delivery unit, wherein the elevation mechanism is configured to collect balls from a collection zone of the reservoir, wherein the reservoir comprises an agitation system including an agitator configured to move in an oscillatory motion to agitate the plurality of balls, wherein the extent of motion of the agitator is outside the collection zone of the reservoir.

Description

[0001] ELEVATOR FEEDER

[0002] Field

[0003] The present disclosure relates to an elevator feeder for a sports simulation apparatus.

[0004] Summary

[0005] According to a first aspect of the present disclosure there is provided an elevator feeder for providing balls to a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; and an elevation mechanism for elevating the balls in a sequential manner from the reservoir to a ball delivery unit, wherein the elevation mechanism is configured to collect balls from a collection zone of the reservoir, wherein the reservoir comprises an agitation system including an agitator configured to move in an oscillatory motion to agitate the plurality of balls, wherein the extent of motion of the agitator is outside the collection zone of the reservoir.

[0006] The elevation mechanism may comprise a conveyer and a plurality of ball supports coupled along a length of the conveyor. The collection zone may comprise a volume of space defined by the motion I projection I trace of each ball support as it passes through the reservoir. A height of the collection zone may extend from a base of the reservoir to a top of the reservoir. A cross-section of the collection zone may correspond to a cross-section of the ball support. A cross-section of the collection zone may comprise a perimeter that is spaced apart from the ball support. A cross-section of the collection zone may correspond to an area in which a ball can reside and be collected by a ball support. The cross-sectional area of the collection zone may be larger than the cross-sectional area of the ball support. The cross-sectional area of the collection zone may be from 10% to 100% larger than the cross-sectional area of the ball support. The cross-section of the collection zone may comprise an aperture for the ball support to pass through. The edge of the aperture may be spaced apart from the edge of the ball support by a spacing that is less than 25% of the ball diameter. The edge of the aperture may be spaced apart from the edge of the ball support by a spacing that is less than 20% of a width of the ball support. A maximum dimension of the cross-section of the collection zone may be less than 200% of the ball diameter. The collection zone may be at a first end of the reservoir. A cross-section of the collection zone may extend from the first end of the reservoir to a distal edge of the collection zone. The agitator may comprises a first lifter member. A proximal end of the first lifter member may be pivotably coupled to a base of the reservoir at the distal edge of the collection zone. The first lifter member may extend towards a second end of the reservoir opposite the first end. The first lifter member may be configured to rotate about the proximal end of the first lifter member between an extended position and a retracted position.

[0007] The proximal end of the first lifter member may be pivotably coupled at a pivot point at the distal edge of the collection zone. The pivot point may be spaced apart from the first end. The reservoir may comprise a fixed tang extending from the distal edge of the collection zone towards the first end of the reservoir.

[0008] The distal end of the first lifter member may be hingeably coupled to a proximal end of a second lifter member.

[0009] A distal end of the second lifter member may be slideably coupled to the base of the reservoir.

[0010] A base of the reservoir may comprise a first base portion and a second base portion. The first base portion may be spaced apart from the second base portion to form a central channel extending from the first end of the reservoir to the second end of the reservoir. The agitator may be positioned in the central channel.

[0011] The first lifter member may comprise: a first side wall; a second side wall spaced apart from, and parallel to, the first side wall; and a roofing portion extending between a top edge of the first sidewall and a top edge of the second sidewall.

[0012] The roofing portion may comprise a proximal roofing portion at a proximal end of the first lifter member. The proximal roofing portion may comprise a planar surface perpendicular to the first and second side walls. The roofing portion may comprise a distal roofing portion at a distal end of the first lifter member. The distal roofing portion may comprise a pitched roof profile. The elevator feeder may comprise a drive motor configured to drive both the agitation system and the elevation mechanism.

[0013] The collection zone may be at a first end of the reservoir. A base of the reservoir may comprise a gradient for biasing the plurality of balls via gravity towards the first end of the reservoir and / or the collection zone.

[0014] According to a second aspect of the present disclosure, there is provided an elevator feeder for loading balls into a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; and an elevation mechanism for elevating the balls in a sequential manner along an elevation axis from the reservoir to a ball delivery unit, the elevation mechanism comprising: a conveyor; and a plurality of ball supports coupled along a length of the conveyor, wherein each ball support comprises: a mounting portion for coupling the ball support to the conveyor; and a supporting portion for supporting one of the plurality of balls.

[0015] The supporting portion may extend from the mounting portion such that during elevation of the ball along the elevation axis, a supporting plane of the supporting portion forms a biasing angle with the elevation axis for biasing the ball towards the mounting portion.

[0016] The conveyor may be configured to elevate the ball supports along the elevation axis and in an elevation orientation. The supporting portion may extend from the mounting portion and when the ball support is in the elevation orientation, the ball support may form a biasing angle with the elevation axis for biasing the ball towards the mounting portion.

[0017] The biasing angle may be less than 90 degrees. The biasing angle may be from 70 to 85 degrees. The biasing angle may be 80 degrees.

[0018] The mounting portion may comprise a ball-centering feature for aligning the ball with a central axis of the supporting portion.

[0019] The central axis may extend from the mounting portion in the supporting plane. The mounting portion may comprise a mounting plate. The ball-centering feature may comprise a supporting flange extending from the mounting plate and spaced apart from the supporting plane. The supporting flange may extend in a plane parallel to the supporting plane.

[0020] The mounting portion may comprise a mounting plate extending in a mounting plane. The supporting plane of the supporting portion may extend from the mounting portion at the biasing angle and parallel to the central axis.

[0021] The supporting portion may comprise a supporting plate extending in the supporting plane and the supporting plate may comprise a cut-out. The cut-out may allow passage of a fixed tang of the reservoir. The cut-out may allow a lower portion of the ball to protrude on a lower side of the supporting plane.

[0022] The supporting portion may comprise a supporting fork. The supporting fork may comprise a first supporting arm and a second supporting arm extending in the supporting plane. The first supporting arm may be spaced apart from the second supporting arm. The spacing may provide a cut-out I aperture in the supporting portion.

[0023] The first supporting arm and the second supporting arm may extend parallel to, and either side of, the central axis.

[0024] Each of the first supporting arm and the second supporting arm may comprise: a base portion extending within a supporting plane of the supporting portion; and a sidewall portion with a length of the sidewall portion extending parallel to a length of the base portion and wherein a height of the sidewall portion extends out of the supporting plane.

[0025] The angle between the supporting plane and the sidewall portion may be from 50 to 70 degrees. The angle between the supporting plane and the sidewall portion may be 60 degrees. The height of the sidewall portion may extend away from the central axis.

[0026] The spacing between the first supporting arm and the second supporting arm may be non-circular. An internal edge of the first supporting arm and an internal edge of the second supporting arm each comprise a straight portion parallel to a central axis of the supporting portion. The straight portion may be suitable for supporting the ball.

[0027] An internal edge of the first supporting arm and an internal edge of the second supporting arm may each comprise a detent portion for resisting movement of the ball towards a distal end of the supporting portion.

[0028] The straight portions of the first supporting arm and the second supporting arm may extend to a distal edge of the supporting portion [away from the elevation mechanism].

[0029] A proximal edge of the first supporting arm and a proximal edge of the second supporting arm may each extend perpendicular to the central axis and in the supporting plane.

[0030] According to a third aspect of the present disclosure there is provided an elevator feeder for loading balls into a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; a ball delivery unit for delivering balls to a ball projection apparatus; an elevation mechanism for elevating the balls in a sequential manner from the reservoir to the ball delivery unit, the elevation mechanism comprising: a conveyor; a motor configured to drive the conveyor; and a plurality of ball supports coupled along a length of the conveyor, a ball support sensor configured to detect when a ball support is in a ball delivery position; and a processor configured to: receive a support sensor signal from the ball support sensor; and control the motor to stop driving the conveyor when the ball support sensor signal indicates that the ball support is in the ball delivery position.

[0031] The ball delivery position may comprise a ball delivery range.

[0032] The ball position sensor may comprise a magnetic sensor or a radiation sensor.

[0033] The ball support may comprise: a ball supporting feature extending along a supporting plane transverse to the length of the conveyor; and one or more sidewall features extending along a plane transverse to the length of the conveyor and transverse to the supporting plane.

[0034] The ball support sensor may be positioned: within the ball delivery unit; or along a return path of the conveyor from the ball delivery unit towards the reservoir.

[0035] The motor may comprise a stepper motor.

[0036] The processor may be configured to control the motor to: drive the conveyor in a first forward motion by a first predetermined number of motor steps; and responsive to the support sensor signal indicating that a ball support is in the ball delivery position, interrupt the first forward motion.

[0037] The processor may be configured to control the motor to: drive the conveyor in a second forward motion by a second predetermined number of steps if the support sensor signal indicates that no ball support is in the ball support position during the first forward motion.

[0038] The second predetermined number of steps may be the same as the first predetermined number of steps.

[0039] The processor may be configured to control the motor to: drive the conveyor in a first reverse motion by a predetermined number of reverse steps if the support sensor signal indicates that no ball support is in the ball support position during the first forward motion and the second forward motion; and drive the conveyor in a third forward motion by a third predetermined number of steps; and responsive to the support sensor signal indicating that a ball support is in the ball delivery position, interrupt the first forward motion; and responsive to the support sensor signal indicating that no ball support is in the ball delivery position, output an alert signal. The predetermined number of reverse steps may be less than the first predetermined number of steps. The third predetermined number of steps may be the same as the first predetermined number of steps and / or the second predetermined number of steps.

[0040] The processor may be configured to output a motor failure warning based on a frequency of instances of the support sensor indicating that no ball support is in the ball support position during the first forward motion.

[0041] The elevator feeder may comprise a ball sensor configured to detect whether a ball is delivered from the ball delivery position.

[0042] The processor may be configured to receive a ball sensing signal from the ball sensor after a dwell time following receipt of a support sensing signal indicating detection of a ball support.

[0043] The processor may be configured to: receive a ball sensing signal from the ball sensor; and responsive to the ball sensing signal indicating that a ball is delivered from the ball delivery position, await a ball projection complete signal from the ball projection apparatus before controlling the motor to drive the conveyor.

[0044] The processor may be configured to: receive a ball sensing signal from the ball sensor; and responsive to the ball sensing signal indicating that no ball is delivered to the ball projection apparatus, control the motor to drive the conveyor forward for receiving a ball from a subsequent ball support.

[0045] The processor may be configured to: output a reservoir empty signal if the processor receives: a predetermined number of consecutive support sensing signals indicating detection of a corresponding ball support; and a corresponding predetermined number of ball sensing signals indicating that no ball was delivered to the ball projection apparatus.

[0046] The elevator feeder of any aspect may comprise: a camera configured to capture an image of the reservoir; and a processor configured to process the image to determine a state of the reservoir, wherein the state of the reservoir comprises one or more of: an empty state indicating that there are no balls in the reservoir; a replenish state indicating that the reservoir contains less than a threshold number of balls; a supplied state indicating that the reservoir contains at least the threshold number of balls; and a cave state indicating that a cave has formed around a ball collection zone of the reservoir; and output a reservoir state signal based on the state of the reservoir.

[0047] The processor may process the image with a trained machine learning model trained on labelled images.

[0048] The reservoir state signal may comprise a user alert signal if the reservoir state comprises the replenish state or the empty state.

[0049] The processor may be configured to output the reservoir state signal to activate an activation system if the state of the reservoir comprises the cave state.

[0050] The camera may comprise an infrared camera.

[0051] The processor may be further configured to identify empty ball supports in image and control motor in response.

[0052] The elevator feeder may further comprise a chute for returning fallen balls to the reservoir. The chute may provide a path for balls which have fallen off the elevation mechanism to return to the reservoir.

[0053] The chute may be positioned between an elevation path and a return path of the elevation mechanism.

[0054] The above described features of each of the first, second and third aspects may be combined to provide an elevator feeder falling within the scope of the present disclosure.

[0055] There may be provided a computer program, which when run on a computer, causes the computer to configure any apparatus, including a circuit, controller, converter, or device disclosed herein or perform any method disclosed herein. The computer program may be a software implementation, and the computer may be considered as any appropriate hardware, including a digital signal processor, a microcontroller, and an implementation in read only memory (ROM), erasable programmable read only memory (EPROM) or electronically erasable programmable read only memory (EEPROM), as non-limiting examples. The software may be an assembly program.

[0056] The computer program may be provided on a computer readable medium, which may be a physical computer readable medium such as a disc or a memory device, or may be embodied as a transient signal. Such a transient signal may be a network download, including an internet download. There may be provided one or more non-transitory computer-readable storage media storing computer-executable instructions that, when executed by a computing system, causes the computing system to perform any method disclosed herein.

[0057] Brief Description of the Drawings

[0058] One or more embodiments will now be described by way of example only with reference to the accompanying drawings in which:

[0059] Figure 1 illustrates a sports simulator comprising an elevator feeder according to an embodiment of the present disclosure;

[0060] Figure 2 illustrates an elevator feeder according to an embodiment of the present disclosure;

[0061] Figure 3A illustrates a perspective view of a ball support sensor for an elevator feeder according to an embodiment of the present disclosure;

[0062] Figure 3B illustrates a plan view of the ball support sensor of Figure 3A;

[0063] Figure 3C illustrates a side view of the ball support sensor of Figure 3A;

[0064] Figure 3D illustrates an end view of the ball support sensor of Figure 3A;

[0065] Figure 3E illustrates a perspective view of the ball support sensor of Figure 3A supporting a ball;

[0066] Figure 3F illustrates a plan view of the ball support sensor of Figure 3A supporting a ball;

[0067] Figure 3G illustrates a side view of the ball support sensor of Figure 3A supporting a ball;

[0068] Figure 3H illustrates an end view of the ball support sensor of Figure 3A supporting a ball; Figure 31 illustrates another side view of the ball support sensor of Figure 3A supporting a ball;

[0069] Figure 3J illustrates a cross-sectional side view of the ball support sensor of Figure 3A supporting a ball;

[0070] Figure 3K illustrates another plan view of the ball support sensor of Figure 3A supporting a ball;

[0071] Figure 3L illustrates a plan view of the ball support sensor of Figure 3A with a ball longitudinally displaced;

[0072] Figure 3M illustrates a cross-sectional view in the supporting plane corresponding to Figure 3K;

[0073] Figure 3N illustrates a cross-sectional view in the supporting plane corresponding to Figure 3L;

[0074] Figure 30 illustrates a plan view of the ball support sensor of Figure 3A with a ball laterally displaced;

[0075] Figure 3P illustrates a cross-sectional view corresponding to Figure 30;

[0076] Figure 4A illustrates a perspective view of a reservoir and agitation system for an elevator feeder according to an embodiment of the present disclosure;

[0077] Figure 4B illustrates a perspective view of the collection zone of the reservoir of Figure 4A;

[0078] Figure 4C illustrates a cross-sectional view of the reservoir and agitation system of Figure 4A;

[0079] Figure 4D illustrates a further perspective view of the reservoir and agitation system of Figure 4A;

[0080] Figure 4E illustrated another cross-sectional view of the reservoir and agitation system of Figure 4A;

[0081] Figure 4F illustrates a cross-sectional view of the reservoir and agitation system of Figure 4A with the agitation system in an extended position;

[0082] Figure 4G includes a magnification of a portion of Figure 4F;

[0083] Figure 4H illustrates a cross-sectional view of the reservoir and agitation system of Figure 4A with the agitation system in a retracted position;

[0084] Figure 41 includes a magnification of a portion of Figure 4H;

[0085] Figure 4J illustrates another cross-sectional view of the reservoir and agitation system of Figure 4A;

[0086] Figure 4K illustrates how balls are able to bridge a central channel of a reservoir when an agitator of the reservoir is in the retracted position;

[0087] Figure 4L illustrates how the balls may move as the agitator of Figure 4K moves to the extended position; Figure 4M illustrates another way the balls may move as the agitator of Figure 4K moves to the extended position;

[0088] Figure 5A illustrates a ball delivery unit of an elevator feeder according to an embodiment of the present disclosure at a first time;

[0089] Figure 5B illustrates the ball delivery unit of Figure 5A at a second time after the first time;

[0090] Figure 5C illustrates the ball delivery unit of Figure 5A at a third time after the second time;

[0091] Figure 5D illustrates the ball delivery unit of Figure 5A at a fourth time after the third time;

[0092] Figure 6 illustrates control logic for controlling an elevator feeder according to an embodiment of the present disclosure;

[0093] Figure 7 shows a ball support carrying two balls at once;

[0094] Figure 8A shows a ball support according to an embodiment of the present disclosure;

[0095] Figure 8B shows a ball support according to another embodiment of the present disclosure; and

[0096] Figure 9 shows an example elevator feeder according to an embodiment of the present disclosure.

[0097] Detailed Descriotion

[0098] Sports simulators (also referred to herein as a sports simulation apparatus) may be used for sports training and I or in an entertainment setting, and can include a simulated reality in which users experience various aspects of a sport or game. Use of a sports simulator may include a user striking a ball towards one or more targets. In some sports simulators, such as a golf simulator, a user may strike a stationary ball towards the one or more targets. In other example sports simulators, such as a baseball simulator or a cricket simulator, a projectile or ball may be launched towards a user who can swing a limb, bat or racquet in an attempt to strike the ball towards the one or more targets.

[0099] In projectile launching sports simulators, a ball feeder may automate the distribution of a plurality of balls to a projectile launcher. Conventional ball feeders can suffer from interruption of the ball feeding process which disrupts the coaching or entertainment experience for the user. Major causes of interruption include: (i) inefficiency of ball collection - the ball feeder may have an inefficient ball collection mechanism which results in one or more "empty" deliveries of a ball and a wait time for the user while the system awaits the next delivery; (ii) jamming of the ball feeder which may be caused by the unpredictable motion of stray balls among the moving parts of the ball feeder and the resulting jamming of feeding mechanisms as balls get wedged and trapped. This can also cause damage to the ball feeder; and (iii) an empty reservoir of balls resulting in the user raising an alert and awaiting collection and replenishment of balls to the reservoir.

[0100] The present disclosure relates to an elevator feeder for a sports simulation apparatus that can address one or more of the above issues.

[0101] Figure 1 illustrates a sports simulator comprising an elevator feeder 102 according to an embodiment of the present disclosure. In this example, the sports simulator is a cricket simulator 100. The simulator 100 comprises a projectile launcher 104 for launching a sports projectile 106 (a sports ball in this example) towards a user 108. In response, the user 108 can attempt to strike the sports projectile 106 towards one or more impact targets 110. The sports simulator 100 may detect the resultant motion of the sports projectile 106 via one or more ball tracking sensors. The ball tracking sensors may comprise a radiation sensor 112 such as a camera, radar or LiDAR and / or the impact target 110.

[0102] In this example, a display screen 114 comprises an aperture through which the projectile launcher 104 launches the projectile 106 towards the user 108. Behind the screen 114 the elevator feeder 102 sequentially loads a plurality of sports projectiles 106 (balls) from a reservoir 116 to the projectile launcher 104.

[0103] Figure 2 illustrates a more detailed view of an elevator feeder 202 according to an embodiment of the present disclosure. Features appearing in Figure 2 that also appear in Figure 1 have been given corresponding numbers in the 200 series and will not necessarily be described again here.

[0104] The elevator feeder 202 comprises a reservoir 216 for storing a plurality of balls, and an elevation mechanism 218 for elevating the balls in a sequential manner from the reservoir 216 to a ball delivery unit 220. The ball delivery unit 220 delivers the balls to the projectile launcher 204 (also referred to herein as a ball projection apparatus). In this example, the ball delivery unit 220 delivers the balls to the ball projection apparatus via a delivery tube 222. The elevation mechanism 218 comprises a conveyor 224 and a plurality of ball supports 226 coupled along a length of the conveyor 224. In this example, the conveyor comprises a chain 226. In other examples, the conveyor may comprise a belt. A motor 228 drives the chain 226 around a loop. The loop includes: (i) an elevating portion extending along an elevation axis 230, wherein the motor 228 elevates the chain 224 I ball supports 226 along the elevation axis 230 (vertical axis in Figure 2) from the reservoir 216 to the ball delivery unit 220; and (ii) a return path 232 wherein the motor drives the chain 2241 empty ball supports 226 along the return path 232 from the ball delivery unit 220 back to the reservoir 216.

[0105] In this example, the reservoir 216 includes a ball agitation system 234 for agitating a plurality of balls within the reservoir 216. The agitation system 234 can continuously or intermittently agitate a plurality of balls to reduce the occurrences of voids or caves within a collection zone of the reservoir 216. A void or a cave is when an arrangement of balls in the reservoir creates a void around the ball supports so that no ball can be collected by the elevation mechanism. An example agitation system 234 is discussed in detail below.

[0106] In this example the projectile launcher 204 comprises a bowling or pitching machine. Some bowling machines can only prepare and project one ball at a time. Therefore, in this example, the ball delivery unit 220 buffers delivery of a ball from the elevator feeder 202 to the projectile launcher 204. The elevator feeder 202 may include a controller (not illustrated). The controller (also referred to here as a processor) may control the motor 228 in an intermittent manner, with a forward motion being initiated in response to a ball being delivered by the projectile launcher 204. The ball delivery unit 220 may include a mechanical stop 236 that is released in response to a ball being delivered by the projectile launcher 204. Operation of the controller is described in more detail below.

[0107] Ball Supports

[0108] In the example of Figure 2, each ball support 226 includes: (i) a mounting portion for coupling the ball support 226 to the chain 224; and (ii) a support portion for supporting a ball. The supporting portion extends from the mounting portion such that during elevation of the ball along the elevation axis 230, a supporting plane of the supporting portion forms a biasing angle with the elevation axis for biasing the ball (by gravity) towards the mounting portion I chain 224. In other words, the supporting portion extends from the mounting portion in a supporting plane such that, when the ball support 226 is elevated along the elevation axis 230, an angle between the elevation axis 230 and the supporting portion I supporting plane is less than 90 degrees. As the ball support 226 is elevated along the elevation axis 230, the supporting portion extends transverse to the chain 224 and partially upwards (i.e. has a vectoral component along the elevation axis 230) from a proximal end of the supporting portion at the mounting portion I chain 224 to a distal end of the supporting portion away from the mounting portion I chain 224. During elevation along the elevation axis 230, the ball supports 226 are in an elevation orientation. In the elevation orientation, the angle between the supporting plane and the elevation axis 230 is the biasing angle. The ball supports are not in the elevation orientation at other parts of the loop, for example the return path 232 and the top and bottom portions of the loop.

[0109] By providing a biasing angle for biasing the ball towards the chain 224 during elevation, the ball support 226 advantageously reduces the possibility of a ball rolling off the end of the ball support 226 and falling back to the reservoir 216. In this way, collection efficiency is improved. The biasing angle allows for the ball support 226 to be pulled downwards when collecting a ball from the reservoir 216 without the ball falling off the ball support 226.

[0110] Figures 3A to 3P illustrate a ball support 326 for an elevator feeder according to an embodiment of the present disclosure. Features appearing in Figures 3A-3P that also appear in Figure 1 or Figure 2 have been given corresponding numbers in the 300 series and will not necessarily be described again here.

[0111] Figure 3A, 3B, 3C and 3D respectively illustrate a perspective view, plan view, side view and end view of the ball support 326. Figures 3E-3H correspond to Figures 3A- 3D but illustrating the ball support 324 with a ball 306 present. In some examples, the ball 306 may be compressible I resilient and therefore prone to becoming trapped or wedged when forced into apertures or between angled edges. In this example, the ball is a compressible cricket ball for use with a bowling machine and has a diameter of approximately 72 mm. In other examples, the ball may range in size from a squash ball with a diameter of approximately 40 mm to a basketball with a diameter of 239 mm. In some examples, the ball may be a tennis ball, a baseball, a football a lacrosse ball or any other known sports ball with an associated known diameter.

[0112] Figures 3A to 3H Illustrate the ball support 326 in the elevation orientation corresponding to the orientation of the ball support 326 during elevation along the elevation axis in the elevator feeder. Positional references described with respect to the figures should be construed accordingly.

[0113] Figures 3A to 3P are described according to three axis: a vertical axis 350, a lateral axis 351 and a central axis 352. The vertical axis 350 is arranged vertically upwards when the ball support 326 is in the elevation orientation. In other words, the vertical axis 350 corresponds to the elevation axis when the ball support 326 is in the elevation orientation in the elevator feeder. The lateral axis 351 is perpendicular to the vertical axis 350. The lateral axis 351 is horizontal when the ball support 326 is in the elevation orientation. The vertical axis 350 and the lateral axis 351 lie within and define a mounting plane. In this example, the mounting portion 338 comprises a mounting plate that extends in the mounting plane. A lower edge of the mounting portion 338 extends along the lateral axis 351. The angle between the supporting plane and the mounting plane is the biasing angle.

[0114] The central axis 353 is perpendicular to the lateral axis 351. The central axis 353 extends from a mid-point of the lower edge of the mounting portion 338 and towards a distal end of the supporting portion 338. The angle between the central axis and the vertical axis 350 is the biasing angle. In other words, the central axis 333 lies in the supporting plane of the supporting portion 340. The supporting plane may be defined as the plane comprising the central axis 352 and the lateral axis 351. The angle between the supporting plane and the vertical axis 350 is the biasing angle. A proximal edge of the supporting portion 340 extends along the lateral axis 351.

[0115] As best viewed in Figures 3C and 3G, the ball support 326 comprises a mounting portion 338 and a supporting portion 340 and the supporting portion 340 / supporting plane extends partially upwards (has a component in the vertical axis 350) when the ball support 326 is arranged in the elevation orientation. In this example, the supporting portion 340 extends from the mounting portion 338 at the biasing angle to bias the ball 306 (via gravity) towards the mounting portion 338 when the ball support 326 is in the elevation orientation (see Figure 3G in particular). In this example, the biasing angle corresponds to the angle between the mounting portion 338 (i.e. mounting plate) and the supporting portion 340. In this example, the biasing angle is 80°. In some examples, the biasing angle may be from 70° to 85°. In other examples, the mounting portion 338 may extend transverse to the vertical axis 350 and / or the lateral axis 351 (i.e. transverse to the mounting plane). As a result, in such examples, the angle between the mounting portion 338 and the supporting portion may be different to the biasing angle. In this example, the mounting portion 338 provides an abutment to the ball 306. In the elevation orientation: the biasing angle biases the ball 306 towards the mounting portion 338; the supporting portion 340 supports a lower portion of a surface of the ball 306; and the mounting portion 338 abuts the ball 306 and supports a side portion of a surface of the ball 306. In this way, the ball 306 is securely retained in the ball support 326 during elevation of the ball support 326 in the elevator feeder (i.e. in the elevation orientation shown in Figures 3A to 3H).

[0116] In this example, the supporting portion 340 extends from a lower edge of the mounting portion 338. The supporting portion 340 extends in the supporting plane transverse to the mounting plane at the biasing angle (80° in this example). A supporting flange 342 extends from a second (upper) edge of the mounting portion 338. In this example, the supporting flange 342 extends parallel to the supporting plane. The supporting flange 342 provides the abutment of the mounting portion 338. By providing the abutment as the supporting flange 342, the ball is contacted along an edge of the supporting flange 342 and the probability of a ball being wedged within the acute angle (the biasing angle) between the supporting portion 340 and the mounting portion 338 is reduced.

[0117] In this example, the supporting flange 342 comprises a ball-centering feature 344. The ball-centering feature 344 is for centering the collected ball 306 with respect to the central axis 352. In this example, the ball-centering feature 344 comprises a curved edge 344 of the supporting flange 342 that is configured to abut the collected ball 306. The curvature of the curved edge 344 comprises a curvature that conforms with a curvature of the ball 306. In other words, a width of the supporting flange 342 is a minimum value at the centre of the curved edge 344 and the width of the supporting flange 342 increases to a maximum value at the end of the curved edge. In some examples, the curved edge may have the same curvature as the curvature of the ball 306. In some examples, the curvature of the curved edge 344 may be greater than the curvature of the ball 306 (i.e. smaller diameter of curvature) to allow for degradation of the ball with time. The curved edge 344 can advantageously cup the collected ball and reduce movement of the ball 306 during elevation in the elevator feeder. The end-to-end length of the curved edge 344 amy be from 30% to 70% of the ball diameter and in this example is 50% of the ball diameter. In other examples, the supporting flange 342 may comprise a different shaped ball-centering feature such as a notch or a U-shape. In some examples, the mounting portion 338 may include a ball-centering feature that does not comprise a ball supporting flange, for example a pair of supporting pins extending from the mounting plate.

[0118] As best illustrated in Figures 3G, 31 and 3J, in this example, a separation between the supporting flange 342 and the supporting plane I supporting portion 340 is selected such that an extension of a plane of the supporting flange 342 (parallel to the supporting plane) substantially bisects the collected ball 306. In other words, the supporting flange 342 abuts the ball substantially at a midline, half-height or equator of the collected ball 306. In this example, the ball support 326 is configured to support the collected ball 306 with a portion of the ball 306 protruding on a lower side of the supporting plane. In this example, a maximum extent of the protrusion is 10% of the ball diameter. As a result, the separation between the supporting flange 342 and the supporting plane may be from 35% to 45% of the ball diameter, specifically 40% in this example. By providing the separation of the flange 342 and supporting plane to result in abutment of the mounting portion 338 at approximately half the height of the ball, the supporting flange 342 provides good support to the collected ball 306, particularly as the ball support 326 completes the elevation path along the elevation axis. At the top of the loop of the conveyor 224 in the elevator feeder 202 (see Figure 2 and Figures 5A to 5D), the elevation mechanism 218 delivers the ball support 326 and collected ball 306 to the ball delivery unit 222 of the elevator feeder. At the top of the loop, the ball support 326 rotates about the lateral axis 351 in a counterclockwise direction with respect to Figure 3G. The supporting flange 342 continues to provide support to the ball 306 until the ball support 326 reaches a ball delivery position (e.g. following a rotation about the lateral axis of approximately 70°-80°). The mounting portion 338 and supporting flange 342 advantageously result in a consistent ball delivery position, when the ball 306 is no longer supported by the ball support 326. The ball delivery position is discussed further below. By providing the separation of the flange 342 and supporting plane to result in abutment of the mounting portion 338 at approximately half the height of the collected ball 306, the separation is also sufficiently small to reduce the probability of a compressible ball 306 becoming wedged between the supporting flange 344 and the supporting portion 340. Further providing a separation of ~40% of the ball diameter provides sufficient space for tooling to access the mounting plate and attach / detach the mounting portion 338 to the conveyor (e.g. the rivet holes visible in Figure 3D allow the ball support to be riveted to chain link attachments or another conveyor coupling).

[0119] As best illustrated in Figures 3A and 3B, in this example, the supporting portion 340 comprises a supporting fork. The ball support may be referred to as a claw. The supporting fork comprises a first supporting arm 346 extending in the supporting plane and a second supporting arm 348 extending in the supporting plane. The first supporting arm 346 and second supporting arm 348 extend parallel to the central axis 352. The first supporting arm 346 and second supporting arm 348 are spaced apart either side of the central axis 352 to provide a cut-out or aperture 354 in the supporting portion 340.

[0120] Said another way, the supporting portion 340 may comprise a supporting plate extending in the supporting plane and comprising a cut-out 354.

[0121] As discussed further below, the elevator feeder may have one or more fixed tangs for supporting the ball as it enters or exits the elevation mechanism. The cut-out 354 enables the ball support 326 to pass these one or more fixed tangs. The cut-out 354 may be sized to allow protrusion of a lower portion of the ball 306 when supported in the ball support 326 (for example the 10% protrusion described above).

[0122] In this example, a profile of the cut-out 354 is non-circular. A non-circular profile advantageously reduces the probability of a compressible ball becoming wedged within the cut-out 354 and causing a jam in the elevator feeder. In this example, the cut-out includes two straight edges 356a, 356b parallel to the central axis 352. In other words, an inner edge of the first supporting arm and an inner edge of the second supporting arm each comprise a straight portion 356a, 356b parallel to the central axis. The straight edges 356a, 356b advantageously allow the collected ball 306 to roll along the central axis, to or from the mounting portion 338 when the ball support is in the elevation orientation. This can further reduce the probability of the collected ball becoming wedged in the cut-out 354. A separation between the straight edge 356a on the first supporting arm 346 and the straight edge 356b on the second supporting arm 348 may be less than 75% of the ball diameter and may be less than 70% of the ball diameter to further reduce the probability of wedging.

[0123] In this example, the cut-out 354 comprises a mechanical detent 358a, 358b, or a stop 358a, 358b, towards a distal end of the cut-out 354. The mechanical detent 358a, 358b comprises first and second detent features at a distal end of the respective straight edges 356a, 356b. In other words, the internal edge of the first supporting arm 346 and the internal edge of the second supporting arm 348 each comprise a mechanical detent 358a, 358b. In this example, the mechanical detent 358a, 358b comprises the internal edge of each arm 346, 348 extending inwards towards the central axis 352. In this example, the mechanical detent 358a, 358b is positioned at the distal end of the straight portion 346a, 346b of the respective internal edge. The mechanical detent 358a, 358b provides a stop at the distal end of the straight portion to reduce the probability of the collected ball 306 rolling off the distal end of the supporting portion, as it is collected from the reservoir and / or during elevation. The mechanical detent 358a, 358b can reduce the probability of roll-off if the ball support 326 is pulled downwards from a distal end of the supporting portion 340 (e.g. by other balls in the reservoir) by more than the biasing angle. This advantageously improves collection efficiency. The straight edges 356a, 358b and / or the mechanical detent 358a, 358b may be dimensioned to allow the collected ball to roll a distance of between 5 and 15% of the ball diameter, such as 10% of the ball diameter, in the direction of the central axis 352 (i.e. towards or away from the mounting portion 338).

[0124] Figures 3K-3N illustrate the function of the straight edges 356a, 356b and the mechanical detent 358a, 358b. Figure 3K shows a plan view of the ball support 326 with the collected ball 306 resting against the supporting flange 342. Figure 3M shows a corresponding cross-section through the supporting plane. The collected ball is positioned at a proximal end of the straight edges 356a, 356b. Figure 3L shows a plan view of the ball support 326 wherein the collected ball 306 has rolled towards a distal end of the supporting portion 340 and been stopped by the mechanical detent 358a, 358b. Figure 3N shows a corresponding cross-section through the supporting plane. The collected ball 306 is positioned at a distal end of the straight edges 356a, 356b and contacts the detent 358a, 358b. The detent 358a, 358b is optional. As noted below, a detent may be favourable or unfavourable depending on the nature of the ball (weight, size etc) and the sports application.

[0125] As best illustrated in Figures 3D,3H and 3P, in this example, the supporting arms 346, 348 each comprise a base portion 346a, 348a with a length extending in the supporting plane and a sidewall portion 346b, 348b (or sidewall flange) with a height extending out of the supporting plane. A length of the sidewall portions 346b, 348b may extend parallel to the length of the respective base portion 346a, 346b. The height of the sidewall portions 346b, 348b may extend at least partially upwards with respect to the vertical axis 350. The sidewall portions 346b, 348n may extend away from the central axis 350. The angle between the supporting plane and each sidewall portion may be from 50° to 90° for example 60°. The sidewall portions 346b, 348b provide a lateral detent for resisting the collected ball 306 rolling off an external edge (opposite the internal edge) of either supporting arm (when the ball support is in the elevation orientation). The sidewall portions 346b, 348b also provide a ball-centering feature by encouraging the collected ball 306 to return towards the central axis 352 and the cut- out 354 when the ball support 326 is in the elevation orientation. In this way, the sidewall-portions 346b, 348b further improve collection efficiency. By returning the collected ball to the central axis 352, the sidewall portions 346b, 348b can prevent the collected ball from becoming stuck at the side of the ball support 326 where it may clash with the frame of the elevator feeder and cause a jam. The sidewall portions 346b, 348b can also provide strength to the claw and further support the agitation of balls within the reservoir.

[0126] Figures 30 and 3P illustrate the function of the sidewall portions 346b, 348b. Figure 30 illustrates a collected ball 306 that has been collected or rolled towards the outside edge of the first supporting arm 346. The detent effect of the sidewall portion 346b of the first supporting arm 346 prevents the collected ball from rolling off the lateral edge of the ball support 326. The combination of the biasing angle, the curved edge 344 of the supporting flange 342 and the resistance of the sidewall portion 346b encourage the collected ball 306 to move to the stable supported position shown in Figures 3E- 3J, 3K and 3M.

[0127] The length of the supporting portion 340 I supporting arms 346, 348 with respect to the central axis 352 is selected to be: sufficiently long to protect a collected ball 306 from being knocked off the ball support 326 by other balls in the reservoir and / or to provide some agitation effect to the balls in the reservoir; and sufficiently short to reduce load on the elevation mechanism I conveyor / motor, resulting from other balls in the reservoir pulling down on a distal end of the supporting portion 340. In some examples, the length of the supporting portion may be in the range from 100% to 130% of the ball diameter.

[0128] A width of the supporting portion 340, with respect to the lateral axis 351, i.e. from the external edge of the first supporting arm 346 to the external edge of the second supporting arm 348 may be larger than the ball diameter. This ensures that the entire collected ball is protected within the width of the ball support 326. For example, the width of the ball support 326 may be from 100% to 110% of the ball diameter.

[0129] A width of the mounting portion 338, with respect to the lateral axis, may be less than a width of the supporting portion 340. As visible in the example of Figures 4A to 4C, the conveyor (not illustrated) may be positioned external to a first end panel 464 of the reservoir and the reservoir may comprise a slot 466 in the first end panel 464 that extends along the elevation axis 430. The width of the mounting portion 338 may be less than the width of the slot 466 and the width of the supporting portion 340 may be greater than the width of the slot 466. This allows the mounting portion 338 to pass through the slot 466 and couple to the conveyor external to the reservoir while the supporting portion 340 remains in the reservoir, even if the conveyor is pulled away from the reservoir. With continuing reference to Figure 3, in this example the supporting portion comprises two tapered I angled edges 360 (visible in Figure 3A) extending in the supporting plane from a proximal end of a respective supporting arm 346, 348 to the mounting portion and at least partially towards the central axis 352. The tapered edges 360 can advantageously guide the conveyor and mounting portion 338 back through the slot 466 if they are pulled forwards due to the plurality of balls in the reservoir. This reduces the probability of the conveyor catching on the sides of the slot 466 and jamming the elevator feeder.

[0130] A proximal end of each of the first and second supporting arms 346, 348 each have straight proximal edges 362a, 362b (visible in Figure 3B) parallel to the lateral axis 351 and perpendicular to the central axis 352. These straight proximal edges 362a, 362b reduce a spacing between the supporting portion 340 an internal side of the first end panel 464 and reduce the probability of a ball in the reservoir becoming wedged between the ball support and the first end panel 464 of the reservoir.

[0131] Turning now to Figure 7, in some example applications, specific characteristics of the balls (such as weight and diameter) can introduce different failure risk conditions. Figure 7 shows a ball support carrying two balls at once, for example. This risk condition may occur when the weight of the balls is above a threshold weight, and / or the diameter is less than a threshold diameter, for example. In examples where a ball support carries two balls at once, one or both of the balls may have an increased probability to fall off the ball support into an unexpected location and potentially jam the elevator feeder, particularly as the ball support rotates near the top of the elevation mechanism. The unexpected entry of two balls at once into the ball delivery unit may also cause a jam.

[0132] Figure 8A shows a ball support according to the embodiment of Figures 3A-N. Figure 8B shows a ball support according to another embodiment of the present disclosure. As apparent from the figures, the ball support shown in Figure 8A comprises a mechanical detent 858a, 858b configured to prevent a ball from rolling off the ball support. This may be advantageous in embodiments when the risk of ball supports carrying two balls at once is low (for example, due to the characteristics of the balls or the spacing between successive ball supports). However, in embodiments when there is a risk of the ball supports carrying two balls at once, the weight of the uppermost ball cannot displace the lowermost ball because the movement of the lowermost ball is restricted by the mechanical detent 858a, 858b. In this way, both balls can be supported by the ball support, as illustrated in Figure 7.

[0133] Contrastingly, the ball support shown in Figure 8B does not include mechanical detents (see reference numeral 859), although it is otherwise similar to the ball support of Figure 8A. Instead, the straight edges 856a, 856b of the ball support shown in Figure 8B extend to the distal edge of the cut-out 854. In other words, the straight edges 865a, 865b extend to a distal edge of the supporting portion. In this way, the balls are not prevented from rolling off the ball support. This may be beneficial in embodiments wherein the ball supports are able to carry two balls at once (for example, due to the characteristics of the balls). This is because the weight of the uppermost ball can displace the lowermost ball such that one or both of the balls fall off the ball support.

[0134] The supporting portion I supporting plane of the ball support of Figure 8B may extend partially upwards (that is, the supporting portion may have a component in the vertical axis) when the ball support is arranged in the elevation orientation (in the same way as is best shown in Figures 3C and 3G). In this way, the supporting portion is configured to bias the ball (via gravity) towards the mounting portion when the ball support is in the elevation orientation such that a single ball will not fall off, but the additional weight and displacement forces introduced by a second ball will cause the first ball to overcome the gravitational bias and fall off the ball support.

[0135] The lack of a detent / presence of the extended straight portions 856a, 856b can result in the balls falling from the ball support immediately or shortly after the collection of two balls in a single ball support. . As a result, it is likely that the one or both balls will fall back into the reservoir. This means that the balls are unlikely to fall off the ball support unpredictably later during transit (for example within an enclosed space or passage of the elevator feeder or close to the ball delivery position) and are therefore unlikely to cause a jam.

[0136] Figure 9 shows an example elevator feeder, further comprising a chute 9102 for returning fallen balls to the reservoir, according to an embodiment of the present disclosure. In this embodiment, the chute 9102 provides a path (indicated by arrows 9104 in Figure 9) for balls which have fallen off the elevation mechanism unexpectedly to return to the reservoir. As such, the chute 9102 increases the chances that a fallen ball safely returns to the reservoir further reducing the risk / frequency of jams. This advantage pertains to any mechanism wherein balls fall off a ball support and do not return immediately to the reservoir, not only to situations wherein two balls are carried by a single ball support. However, providing such a chute is another way of handling the two ball situation and in this way the chute can operate synergistically with the extended straight portion ball support design described above. In the particular example of Figure 9, the chute 9102 is located between the elevation path and the return path of the elevation mechanism. In this way, falling balls originating from the elevation path or the return path (e.g. falling from the ball delivery unit) have an equal chance of entering the chute and space is utilised efficiently within the elevator feeder.

[0137] Reservoir and Agitation System

[0138] Returning to Figure 2, in this example, the elevation mechanism 218 is configured to collect balls from a ball collection zone 235. Each ball support may collect a respective one of a plurality of balls from the collection zone 235. The collection zone 235 may comprise the volume of space defined I traced by the motion of each ball support 226 within the reservoir 216 (and above a base of the reservoir). A length of the collection zone may extend in the elevation axis 230 to a top of the reservoir 216. A crosssection of the collection zone 235 may correspond to a cross-section of the supporting portion of the ball support 226. In this example, the agitation system 234 comprises an agitator 237 configured to move in an oscillatory motion to agitate a plurality of balls within the reservoir 216. The extent of motion of the agitator 237 is outside the collection zone 235.

[0139] Separating the moving parts of the agitation system 234 from the moving ball supports 226 advantageously avoids mechanical clashing of the agitation system 234 and the ball supports 226 and a subsequent jam of the elevator feeder 202. A conveyor 224, such a chain or belt may have some mechanical play and as a result the ball supports 226 can move in a lateral plane perpendicular to the elevation axis 230. The ball supports 226 may move laterally within the reservoir 216 due to the load I pressure from the plurality of balls within. By isolating the extent of motion of the agitator 237 from the motion of the ball supports 226 within the collection zone 235 the tolerance for the lateral motion of the ball supports 226 is increased and the probability of a clash is reduced. The resulting elevator feeder 202 is also more tolerant to manufacturing and assembly variability that could result in mechanical clashes if the extent of motion of the agitator 237 intruded within collection zone 235.

[0140] Figures 4A to 4M illustrate a reservoir 416 and agitation system 434 for an elevator feeder according to an embodiment of the present disclosure. Features appearing in Figures 4A-4M that also appear in Figures 1 to 3P have been given corresponding numbers in the 400 series and will not necessarily be described again here.

[0141] Figures 4A to 4M Illustrate the reservoir 416 and agitation system 434 in an operational orientation corresponding to their orientation during operation of the elevator feeder. Positional references described with respect to the figures should be construed accordingly.

[0142] Figures 4A to 4M are described according to three axis: the elevation axis 430, a lateral axis 461 and a longitudinal axis 463. The elevation axis 430 corresponds to the elevation axis described above and is the direction in which the ball supports 426 and balls 406 are elevated to the ball delivery unit. The lateral axis 461 is perpendicular to the elevation axis 430. The lateral axis 461 is horizontal when the reservoir 416 is in the operational orientation. The elevation axis 430 and the lateral axis 461 lie within and define a first end plane at a first end 468 of the reservoir 416. The first end panel 464 at the first end 468 of the reservoir extends in the first end plane. The first end plane is parallel to the mounting plane of the ball support 426 when the ball support 426 is in the elevation orientation. The longitudinal axis 463 is perpendicular to the first end-plane and extends towards a second end 470 of the reservoir 416, wherein the second end 470 is opposite the first end 468.

[0143] The elevation mechanism collects balls from a collection zone 435 of the reservoir 416. In this example, the collection zone 435 is highlighted in Figures 4A and 4C. The collection zone 435 is at the first end 468 of the reservoir 416. In this example, the collection zone 435 comprises a cuboidal shaped volume extending parallel to the elevation axis 430 with a cross-section that encompasses the ball support 426. Each ball support 426 will trace a path through the collection zone 435 as it moves along the elevation axis 430. In some examples, the trace / projection of the motion of the ball support 426 within the reservoir 416 may define the collection zone 435. Due to the friction amongst balls, the balls are never in consistent positions. A collection zone 435 helps to increase the delivery rate I collection efficiency.

[0144] As best illustrated in Figures 4D and 4E, in this example, a base of the reservoir 416 comprises: a first base panel 472a (which is an example of a first base portion) extending from a first side 474 of the reservoir 416 to a central channel 476 of the reservoir 416 and from the first end 468 of the reservoir 416 to the second end 470 of the reservoir 416; and a second base panel 472b (which is an example of a second base portion) extending from a second side 478 of the reservoir 416 to the central channel 476 of the reservoir 416 and from the first end 468 of the reservoir 416 to the second end 470 of the reservoir 416. In other words, a spacing between the first base panel 472a and the second base panel 472b defines a central channel 476 extending from the first end 468 of the reservoir 416 to the second end 470 of the reservoir 416. The width of the central channel 476 may correspond to the width of the ball support 426. The width of the central channel 476 may be greater than the width of the ball support 426 to allow for limited lateral movement of the ball support 426 and / or for manufacturing tolerances. For example, the width of the central channel 476 may be from 101% to 120% of the width of the ball support 426 and / or from 101% to 150% of the ball diameter.

[0145] The width of the central channel 476, that is the spacing between the first base panel 472a and the second base panel 472b, may define the lateral extent of the collection zone 435.

[0146] In this example, the first base panel 472a lies in a first base panel plane for biasing balls via gravity towards the central channel 476 and towards the first end 468 I collection zone 435. Similarly, the second base panel 472b lies in a second base panel plane for biasing balls via gravity towards the central channel 476 and towards the first end 468 I collection zone 435. The biasing I slope of the panels is indicated by the arrows in Figure 4E. The first base panel 472a decreases in height with respect to the elevation axis 430 along lines parallel to the lateral axis 461 from the first side 474 to the central channel 476 and decreases in height with respect to the elevation axis 430 along lines parallel to the longitudinal axis 463 from the second end 470 to the first end 468. Similarly, the second base panel 472b decreases in height with respect to the elevation axis 430 along lines parallel to the lateral axis 461 from the second side 478 to the central channel 476 and decreases in height with respect to the elevation axis 430 along lines parallel to the longitudinal axis 463 from the second end 470 to the first end 468. In this way, the base 472a, 472b of the reservoir comprises a gradient from the second end 470 of the reservoir 416 towards the first end 468 of the reservoir 416 for encouraging the plurality of balls to roll towards the collection zone 435 I ball supports 426 I elevation mechanism. The base 472a, 472b also includes a gradient from the sides of the reservoir towards the central channel 476 for encouraging the plurality of balls to roll towards the central channel. The gradients improve ball collection efficiency, particularly when there are a reduced number of balls in the reservoir. In this example, the agitator 437 is positioned in the central channel 476. As best viewed in Figures 4F to 41, the agitator 437 comprises a first lifter member 437-1. A proximal end of the first lifter member 437-1 is pivotably coupled to the base 472 of the reservoir 416 at a pivot point 480 positioned at a distal edge 435a of the collection zone 435. The pivot point 480 may define the distal edge 435a of the collection zone 435, with a length of the cross-section of the collection zone 435 extending from the first end 468 of the reservoir 416 to the pivot point 480 I distal edge 435a. As noted above, the spacing between the first and second base panels 472a, 472b may define the width of the cross-section of the collection zone 435. The length of the crosssection of the collection zone 435, that is the spacing between the first end 468 and the distal edge 435a, may be greater than the length of the supporting portion of the ball support 426. For example, the length of the cross-section may be from 100% to 130% of the length of the supporting portion of the ball support 426. In other words, the pivot point 480 I distal edge 435a may be spaced apart from a distal edge of the ball support 426 during elevation of the ball support 426 along the elevation axis 430. The spacing allows lateral motion of the ball support 426 along the longitudinal axis 463 if the ball support and conveyor are pulled forward.

[0147] In this example, a fixed tang 486 extends from the pivot point 480 into the collection zone 435. The fixed tang 486 extends partially towards but does not contact the first end 468. The fixed tang 468 may be positioned centrally with respect to the lateral dimension (parallel to the lateral axis 461) of the reservoir 416 I collection zone 434. The fixed tang 486 can support and position a ball 406 prior to collection by the ball support 426 (as illustrated in Figure 4B which illustrates a ball 406 in the lowest possible position). As described above, each ball support 426 may comprise a supporting fork I cut-out so that the ball support 426 can pass the fixed tang 486. The cut-out I supporting fork may conform to the shape of the fixed tang 486. The height of the collection zone 435 may extend from the fixed tang 486 to a top edge of the reservoir 416.

[0148] Providing a fixed tang 486 reduces the risk of mechanical clashes with the ball supports 426. In some conventional reservoirs, the tang within the collection zone forms part of the agitation system and moves to agitate the balls. In such systems, the movement of both the tang and ball support in close proximity and within the collection zone increases the risk of mechanical clashes and jamming.

[0149] In this example, the first lifter member 437-1 extends from the pivot point 480 towards the second end 470 of the reservoir 416. The first lifter member 437-1 comprises a drive coupling 482 that is coupled to a drive rod 484. In this example, the drive coupling 482 is positioned closer to the distal end of the first lifter member 473a than the proximal end. The drive rod 484 is coupled to a drive motor and is configured to rotate the first lifter member about the first pivot point 480 and about a pivot axis through the pivot point 480 and parallel to the lateral axis 461. The drive rod 482 is configured to rotate the first lifter member 437-1 within a limited range between an extended position (Figure 4F and 4G), and a retracted position (Figures 4H and 41). As illustrated by Figures 4F to 41, the first lifter member 437-1 does not incur into the collection zone 435 for the entire range of motion of the agitator 437.

[0150] As best illustrated in Figure 4B, the first lifter member 437-1 comprises: a first side wall 437-la extending in a plane perpendicular to the lateral axis 461 at a first edge of the central channel 476; a second side wall 437-lb extending parallel to the first side wall 437-la and spaced apart from the first side wall 437-lb at a second edge of the central channel; and a roof portion connecting a top edge of the first side-wall 437- la to a top edge of the second side wall 437-lb. The roof portion forms an upper surface of the first lifter member 437-1 and prevents balls falling into the central channel. The first and second side walls 4371-a, 437-lb also prevent balls falling into the central channel 476 when the first lifter member 437-1 is in the extended position.

[0151] In this example, the roof portion comprises a proximal roof portion 437-lc at the proximal end of the first lifter member 437-1 and a distal roof-portion 437-ld at the distal end of the first lifter member 437-2. The proximal roof portion 437-1 comprises a flat surface. The flat surface is perpendicular to both the first and second side walls 437-la, 437-lb. As the first lifter member 437-1 is extended into the extended position, the flat surface pushes balls into the collection zone 435 and keeps them aligned centrally with the collection zone 435 and the ball support 426 (with respect to the lateral axis 461). The flat surface avoids the trapping of balls between the proximal roof portion 437-lc and the front end panel 464 or ball supports 426 when the first lifter member 437-1 is in the extended position.

[0152] The distal roof portion 437-ld comprises a pitched roof profile with two planar surfaces each extending from a top edge of a respective sidewall 4371a, 4371b to a central ridge. The pitched roof profile of the distal roof portion 437-ld biases balls away from a central axis of the central channel 476. The angled profile of the distal roof portion 437-ld helps break up I scatter balls that bridge the central channel 474. This effect is illustrated in Figures 4K to 4M. Figure 4K illustrates how balls are able to bridge the central channel 476 when the agitator 437 is in the retracted position. Figures 4L and 4M illustrate how the balls may move as the agitator 437 moves to the extended position dependent on the number of other balls in proximity. The aim of the agitation system 434 is to create as much movement as possible. The shape of first lifter member 437-1 can split balls that have bridged the central channel 476 and raise them upwards to help agitate as many balls in the reservoir as possible. In this way, the pitched roof profile advantageously improves the agitation effect within the reservoir and helps disrupt caves or voids that may form in the collection zone 435.

[0153] In some examples, the first lifter member 437-1 may extend the full length of the reservoir 416 to the second end 470. In this example, a distal end of the first lifter member 437-1 is hingeably coupled to a proximal end of a second lifter member 437- 2. A distal end of the second lifter member 737-2 is coupled to a roller mechanism (e.g. one or more roller wheels) configured to roll along the central channel 476. In this way, when the drive rod lifts rotates the first lifter member 437a into the extended position, the proximal end of the second lifter member 437-2 is also lifted into an extended position and the distal end of the second lifter member 437-2 rolls along the central channel 476 towards the first end 468 to accommodate the extension at the proximal end of the second lifter member 437-2. In this example, the second lifter member 437-2 comprises the same structural profile as the first lifter member 437-1 comprising first and second sidewalls and a pitched roofing portion. The second lifter member 437-2 may be dimensioned such that a proximal end of the second lifter member 437-2 can slide within the distal end of the first lifter member 437-1, or vice versa.

[0154] The second lifter member 437-2 provides agitation at the second end 470 of the reservoir 416, biasing balls towards the first end 468 I collection zone 435 to be collected by the ball supports 426.

[0155] The first lifter member 437-1 and the second lifter member 437-2 may together form a flexible jointed agitator 437.

[0156] The range of motion of the agitator 437 may be limited to reduce the probability of a ball becoming wedged by the agitator. For example, the retracted position may be set at a position where the top edge of the sidewalls 437-la, 437-lb of the agitator 437 is below (with respect to the elevation axis 430) the edge of the respective reservoir base portion 472a, 472b at the respective edge of the central channel 474. The spacing between the top edge of the sidewalls 437-la, 437-lb of the agitator 437 and the edge of the respective reservoir base panel 472a, 472b may be less than a retraction threshold distance. The retraction threshold distance may be from 45 to 55% of the ball diameter, for example 50%. This reduces the probability of balls becoming wedged within the central channel due to friction. Similarly, in the extended position the top edge of each sidewall 437-la, 437-lb of the agitator 437 is above (with respect to the elevation axis 430) the edge of the respective reservoir base portion 472a, 472b at the respective edge of the central channel 474. The spacing between the top edge of each sidewall 437-la, 437-lb of the agitator 437 and the edge of the respective reservoir base panel 472a, 472b may be less than an extension threshold distance. The extension threshold distance may be from 80 to 120% of the ball diameter, for example 100%, as illustrated in Figure 4J. This reduces the probability of balls becoming wedged in the acute angle between the sidewall of the agitator 437 and the respective reservoir base portion 472a, 472b. The extension position is selected to provide a maximum amount of agitation, while ensuring that when the first lifter member 437-1 returns downwards, the friction between the ball 406, sidewall 437-la, 437-lb and reservoir base panel 472a, 472b is sufficiently low to avoid the ball being dragged into the acute angle between the sidewall 437-la, b and reservoir base panel 472a, 472b, causing the drive motor to jam.

[0157] In this example, the extension position is also limited to a position where a spacing between the distal end of the second lifter member 437-2 and the second end 470 of the reservoir 416 is less than 50% of the ball diameter. This avoids balls becoming wedged in the spacing between the distal end of the second lifter member 437-2 and the second end 470 of the reservoir 416 when the distal end of the second lifter member 437-2 rolls towards the first end 468 in the extension position. The pitched roof profile of the second lifter member 437-2 allows a higher extension position while maintaining the spacing to be less than 50% of the ball diameter.

[0158] As best illustrated in Figure 4A, in this example, the drive rod 484 is coupled to a dual support agitation mechanism. The drive rod 484 is coupled via a cross piece to first and second agitation arms. The first and second agitation arms are connected via a respective crank to the drive motor. The cranks result in oscillatory motion of the drive rod 484 and agitator 437 between the retracted position and the extended position.

[0159] In this example, the drive motor is configured to drive the agitation system 434 and the elevation mechanism. The drive motor may comprise a stepper motor. The processor may receive a ball request signal from the ball projection apparatus and control the drive motor to drive the elevation mechanism and the agitation system 434 by a predetermined number of steps or until a ball support reaches a ball delivery position. The processor may control the drive motor to pause motion of the conveyor and agitation system 434 while a ball is delivered to the projectile launcher and launched in the simulation apparatus. The processor may then receive a further ball request signal from the ball projection apparatus and control the drive motor to repeat the process for a subsequent ball. In this way, the system provides intermittent ball delivery and corresponding intermittent agitation. Said another way, the agitation mechanism 434 is configured to agitate the balls for every ball delivery of the elevator feeder.

[0160] In other examples, separate drive motors may be provided to drive each of the agitation system 434 and the elevation mechanism. Separating the drive motors can provide a simpler system and reduce the load. Separate drive motors may be beneficial for large and heavy balls such as basketballs or footballs. Separate drive motors also allow different and simpler actuators such as linear actuators to be used for the agitation system 434.

[0161] Although the disclosed example of Figures 4A to 4M comprises a hingeable actuator with a single fixed pivot point, it will be appreciated that other mechanical implementations may fall within the scope of the disclosure. For example, the agitator may comprise multiple lifter members that each pivot from a respective fixed pivot point. The additional pivot points can increase the level of agitation. The agitator may comprise multiple hingeable connections that form a saw-tooth profile. In some examples, the agitator may comprise the base panels 472a, 472b which may oscillate as part of the agitation system. Such larger area agitation may be beneficial for larger diameter balls.

[0162] Ball Delivery Unit

[0163] Figures 5A to 5D illustrate a ball delivery unit 520 of an elevator feeder according to an embodiment of the present disclosure. Features appearing in Figures 5A-5D that also appear in Figures 1 to 4M have been given corresponding numbers in the 500 series and will not necessarily be described again here.

[0164] In conventional elevator feeders, a stepper motor may be used to drive the elevation mechanism. The stepper motor may drive the conveyor 524 forward a predetermined number of steps or for a predetermined duration between each ball delivery. The end of each forward motion is intended to result in a ball support 526 arriving in a ball delivery position 590. However, a single jam can disrupt this fixed steps / du ration logic resulting in ball supports 526 not reaching the ball delivery position 590. During a subsequent motion the ball support may jam a ball 506 against a delivery tang 592 causing damage and further disruption to the motion sequence. The disruption may also result in ball supports 526 passing the ball delivery position 590 and the ball 506 being delivered from the wrong position resulting in bouncing from the tang 592, further jamming between the tang and ball support 526 and / or escape of a ball 506 into the other areas of the feeder which may cause damage and further jams.

[0165] Elevator feeders of the present disclosure can overcome such limitations. In some examples, the elevator feeder comprises: a reservoir (for example the reservoir of Figures 4A-4M); a ball delivery unit 520 for delivering balls to a ball projection apparatus; an elevation mechanism for elevating balls in a sequential manner from the reservoir to the ball delivery unit 520, the elevation mechanism comprising a conveyor 524, a motor configured to drive the conveyor 524; and a plurality of ball supports 526 (such as the ball support of Figures 3A-3P) coupled along a length of the conveyor 524. The elevator feeder further comprises a ball support sensor 594 configured to detect when a ball support 526 is in the ball delivery position 590; and a processor (not illustrated) configured to receive a support sensor signal from the ball support sensor 594 and control the motor to stop driving the conveyor 524 when the support sensor 594 indicates that the ball support 526 is in the ball delivery position 590.

[0166] Providing a ball support sensor in this way advantageously ensures that every ball support 526 stops at the same all delivery position 590 resulting in a consistent ball delivery to the ball projection apparatus and reducing the risk of jamming or stray balls.

[0167] Figures 5A to 5D illustrate a series of time steps as a ball support reaches the ball delivery position 590.

[0168] At a first time, illustrated in Figure 5A, the motor is driving the conveyor 524 in a clockwise direction. A first empty ball support 526-1 is returning from the ball delivery unit 520 along the return path 532. A second ball-support 526-2 is in the elevation orientation and approaching the end of its elevation along the elevation axis 530. The second ball-support 526-2 has a collected ball 506 and has not yet reached the ball delivery position 590.

[0169] At a second time after the first time, illustrated in Figure 5B, the motor has driven the conveyor 5245 further. The first ball support 526-1 has continued further along the return path 532. The second ball support 526-2 has reached the ball delivery position 590. In this example, the ball support sensor 594 is positioned at the ball delivery position 590. The ball support sensor 594 detects the second ball sensor 526-2 in the ball delivery position 590, sends a support sensor signal to the processor and the processor controls the motor to stop driving the conveyor 524.

[0170] As illustrated in Figures 5C, and 5D corresponding respectively to a third time shortly after the second time and a fourth time shortly after the third time, the ball 506 releases from the second ball support 526-2 and is guided by the delivery tang 592 to a ball exit point 596 for delivery to the ball projection apparatus.

[0171] In this example, the ball support sensor 594 is positioned at the ball delivery position 590. By positioning the ball support sensor 594 at the ball delivery position 590, each ball support can be accurately stopped at the ball delivery position 590. In other examples, the ball support sensor 594 may be positioned outside the ball delivery unit, for example along the return path 532 of the conveyor 524. In such examples, the ball support sensor 594 can detect an empty ball support 526-1 and infer that a different ball support 526-2 is in the ball delivery position because the ball supports are equally spaced along the conveyor 524. The latter approach relies on the equal spacing of the ball supports along the conveyor which can be easily achieved with a chain conveyor.

[0172] The ball delivery position 590 may comprise a ball delivery range between a first ball delivery position and a second ball delivery position. Detecting that the ball support 526 is within the ball delivery range can increase a detection time window for the ball support sensor 594 and improve sensitivity and reduce sensor requirements. In this example, the ball supports 526 of Figures 3A-3P are used. The sidewall portion or sidewall flange of the supporting portion also increases the detection time window because the ball support 526 has a finite width for the ball support sensor 594 to detect. This further reduces the sensitivity requirements of the ball support sensor 594.

[0173] In some examples, the ball support sensor 594 comprises a magnetic sensor, such as a hall effect sensor. Each ball support 526 may comprise ferrous material. By using a magnetic sensor, the ball support sensor 594 is insensitive to the presence of the non-metallic ball 506. In some examples, the ball support sensor 594 may comprise a radiation sensor, such as an optical sensor or ultrasound sensor. A radiation ball support sensor 594 is advantageously compatible all ball support materials including with non-metallic ball supports 526. A radiation ball support sensor 594 may advantageously be positioned on the return path 532 to ensure that ball supports 526 are empty and therefore the ball 506 does not interfere with the sensing.

[0174] In this example, the elevator feeder further comprises a ball sensor 598. The ball sensor 598 is configured to detect if a ball 506 is positioned at the ball exit point 596. In other words, the ball sensor 598 detects whether a ball support 526 detected by the ball support sensor 594 delivered a ball 506 or whether the ball support 526 was empty. The processor may receive a ball sensing signal from the ball sensor 598. The processor may receive the ball sensing signal after a dwell time (e.g. 1 - 3 seconds) following receipt of a support sensing signal indicating detection of a ball support 526.

[0175] The processor may receive the ball sensing signal from the ball sensor 598 indicating whether a ball 506 was delivered from the ball delivery position 590. Responsive to the ball sensing signal indicating that a ball 506 is delivered from the ball delivery position 590, the processor may be configured to await a ball projection complete signal I ball request signal from the ball projection apparatus before controlling the motor to drive the conveyor 524 to deliver the subsequent ball. Responsive to the ball sensing signal indicating that no ball is delivered from the ball delivery position, the processor may control the motor to drive the conveyor 524 forward for receiving a ball 506 from a subsequent ball support 526. In this way, the elevator feeder can quickly respond to an empty ball support 526 and proceed to a subsequent ball support 526, without awaiting a timeout signal from the ball projection apparatus.

[0176] In some examples, the processor may output a reservoir empty signal if a predetermined number of successive ball sensing signals indicate that no ball is present when a corresponding support sensing signal indicates that a corresponding ball support arrived at the ball delivery position 590.

[0177] In this way, empty ball supports 526 do not present a large problem to the operation of the elevator feeder, which is not true for prior art feeders. This advantage provides a synergistic advantage when combined with the ball supports as shown in Figure 8B. As described above, the ball supports as shown in Figure 8B encourage one or more balls to fall off the support in circumstances when two balls are carried at the same time by the ball support. This reduces the chance of the elevator feeder jamming, and the use of the ball sensing signals by the processor ensures that the operational efficiency of the elevator feeder is not substantially reduced by an increased number of empty ball supports which may result from using ball supports as shown in Figure 8B.

[0178] Reservoir Monitoring

[0179] Returning to Figure 2, in this example, the elevator feeder comprises a camera 299 configured to capture an image of the reservoir 216. The processor may receive an image from the camera 299 and process the image to determine a state of the reservoir 216. The processor may output a reservoir state signal based on the state of the reservoir 216.

[0180] The state of the reservoir may comprise one or more of: an empty state indicating that there are no balls in the reservoir; a replenish state indicating that the reservoir contains less than a threshold number of balls; a supplied state indicating that the reservoir contains at least the threshold number of balls; and a cave state indicating that a cave or void has formed around the collection zone of the reservoir.

[0181] The reservoir state signal may comprise a user alert signal if the reservoir state comprises the replenish state or the empty state. The user alert signal may comprise an audio, visual and or haptic alert signal. The user alert signal can alert a service user to replenish the balls. In some examples, the processor may output the reservoir state signal to activate an automatic ball replenishment system if the reservoir state comprises the replenish state or the empty state. In this way, the elevator feeder can provide early detection of an empty or nearly empty reservoir which can be replenished without affecting the end-user experience.

[0182] The processor may output the reservoir state signal to activate the agitation system 234 or a secondary agitation system if the reservoir state comprises the cave state.

[0183] In some examples, the camera may comprise an infrared camera enabling operation in the absence of visible light, which can be a common environment for elevator feeders. In some examples, the processor may process the image from the camera 299 using a trained machine learning model that has been trained on labelled images corresponding to the different states of the reservoir 216.

[0184] In some examples, the camera 299 may capture an image of the ball supports 226 along the elevation axis 230. The processor may output a reservoir empty alert signal if the image indicates that a predetermined number of consecutive ball supports 226 are empty.

[0185] Elevator Feeder Control

[0186] Figure 6 illustrates control logic 6000 for an elevator feeder according to an embodiment of the present disclosure. The control logic is illustrated for an elevator feeder comprising a ball support sensor, a ball sensor and a camera as described above. It will be appreciated that other example elevator feeders may not include one or more of the ball support sensor, the ball sensor and the camera and that the corresponding process steps I control logic may be omitted. The control logic may be performed by the processor described herein.

[0187] The logic starts at a first step 6002. At a second step 6004, the processor waits for a ball request signal or a ball delivery complete signal from the ball projectile apparatus (projectile launcher).

[0188] Following receipt of the ball request signal, at a third step 6006 the processor controls the motor to drive the conveyor in a first forward motion by a first predetermined number of motor steps. In this example, the predetermined number of motor steps correspond to 0.15 turn fractions of the motor.

[0189] At a fourth decision step 6008, the processor determines whether a support sensing signal was received from the ball support sensor and / or indicated that a ball support sensor was at the ball delivery position. Responsive to the support sensor signal indicating that the ball support sensor is in the ball delivery position, the processor proceeds to a fifth step 6010 and controls the motor to interrupt the first forward motion.

[0190] At sixth step 6012, the processor awaits a ball sensing signal from the ball sensor indicating whether or not a ball was detected at the ball exit point. In other words, whether a ball was delivered from the ball support at the ball delivery position or whether there was an empty ball support.

[0191] Responsive to the ball sensing signal indicating that a ball was delivered to the ball exit point, the processor proceeds to a seventh optional step 6014 and increments a ball counter. The processor proceeds to an eight optional step 6016 and drives the conveyor in a further forward motion to position the next ball support just before the ball delivery position. By including this further forward motion, the next ball support can be pre-positioned so that minimal further motion of the conveyor is required to move the ball support to the ball delivery position. This advantageously improves the responsiveness of the elevator feeder to the ball request signal from the ball projection apparatus improving the end-user experience.

[0192] The processor proceeds to ninth step 6018 and receives an image from the camera and processes the image to determine a state of the reservoir. If the reservoir state is supplied state or no image is received, the processor returns to second step 6004 and awaits a further ball request signal. If the reservoir state is the empty or the replenish state, the processor outputs an alert signal to an operator, uploads an image for future analysis or machine learning training, and returns to second step 6004. If the reservoir state is the cave state, the processor checks if ten such images have been received consecutively and if so sends a warning to an operator to check the reservoir, uploads the image and returns to second step 6004. Otherwise, the processor may skip the warning step.

[0193] Returning to fourth step 6008, responsive to the support sensor signal indicating that no ball support is in the ball support position during the first forward motion, the processor may return to the third step 6006 (via optional tenth, eleventh and twelfth steps 6020, 6022, 6024) and drive the conveyor in a second forward motion by a second predetermined number of steps. In this example, the second predetermined number of steps is the same as the first predetermined number of steps.

[0194] At the optional tenth step 6020, the processor may increment a missed ball support counter for keeping a tally of the number of consecutive times the ball support sensor has not detected a ball support. The missed ball support counter may be reset in step 6010.

[0195] At the optional eleventh step 6022, the processor determines if a count of the missed ball support counter equals a missed count threshold. If the count does not equal the missed count threshold, the processor proceeds to the optional twelfth step 6024 and determines whether ten consecutive missed ball sensing signals have been received from the ball sensor 6024. The optional twelfth step 6024 may also be performed responsive to the ball sensing signal indicating that no ball was delivered from the ball delivery position in step 6012. If ten consecutive ball sensing signals have not been received, the processor returns to the third step 6006.

[0196] Returning to the eleventh step 6022, if the count of the missed ball support counter does equal a missed count threshold, the processor proceeds to the thirteenth step 6026 and determines if the count is equal to an upper missed count threshold. If the count does not equal the upper missed count threshold, the method proceeds to the fourteenth step 6028 and attempts an unjam routine, by controlling the motor to drive the conveyor in a reverse direction by a predetermined number of reverse steps. The predetermined number of reverse steps may be less than the first predetermined number of steps. In this example, the predetermined number of reverse steps is 0.1 of a turn fraction. Following the fourteenth step 6028, the processor proceeds to optional fifteenth step 6030 and records and uploads a video from the camera before returning to the third step 6006.

[0197] The unjam routine can resolve some jamming issues. For example, if a gear of the motor is worn at a particular region I tooth, driving the motor a small number of reverse steps before repeating the forward motion can reduce the load on the worn region and resolve the issue. In this way the frequency of performing jam routines or the frequency of missed ball supports can be indicative of a failing motor. Therefore, in some examples, the processor can output a motor failure warning based on a frequency of instances of the support sensor signal indicating that no ball support is in the ball delivery position.

[0198] Returning to the thirteenth step 6026, if the count of the missed ball support counter does equal the upper missed count threshold, the processor proceeds to a sixteenth step 6032, stops the elevator feeder and sends an alert signal to check a state of the elevator feeder. The processor may also proceed to the sixteenth step 6032 following the twelfth step 6024 if the ten consecutive ball sensing signals do not detect a ball. The operator may attempt to rectify the issue by unjamming the feeder, replenishing balls or disrupting a cave. If the issue is rectified, the feeder can be restarted at the first step 6002. If the problem cannot be resolved, the service provider may be contacted. In this example, the missed count threshold comprises missed count values of 3, 6 and 9 and the upper count threshold is equal to 10. In this way, the processor attempts an unjam routine for every three forward motions that the ball support sensor fails to detect a ball support. However, following three unsuccessful unjam routines, a user is alerted. It will be appreciated that these threshold values are merely expemplary and other values may be used.

[0199] In a more general description of the unjam routine, the processor controls the motor to: (i) drive the conveyor in a first reverse motion 6028 by a predetermined number of steps if the support sensor signal indicates that no ball support is in the ball support position during consecutive forward motions; (ii) drive the conveyor in a third forward motion 6006 by a third predetermined number of steps (in this example equal to the first predetermined number of steps); (iii) responsive to the support sensor signal indicating that a ball support is in the ball delivery position, interrupt the first forward motion 6010; and responsive to the support sensor signal indicating that no ball support is in the ball delivery position, output an alert signal 6032.

[0200] Throughout the present specification, the descriptors relating to relative orientation and position, such as "horizontal", "vertical", "top", "bottom" and "side", are used in the sense of the orientation of the elevator feeder, ball support, reservoir, agitation system or delivery unit as presented in the drawings. However, such descriptors are not intended to be in any way limiting to an intended use of the described or claimed invention.

[0201] It will be appreciated that any reference to "close to", "before", "shortly before", "after" "shortly after", "higher than", or "lower than", etc, can refer to the parameter in question being less than or greater than a threshold value, or between two threshold values, depending upon the context.

Claims

CLAIMS1. An elevator feeder for providing balls to a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; and an elevation mechanism for elevating the balls in a sequential manner from the reservoir to a ball delivery unit, wherein the elevation mechanism is configured to collect balls from a collection zone of the reservoir, wherein the reservoir comprises an agitation system including an agitator configured to move in an oscillatory motion to agitate the plurality of balls, wherein the extent of motion of the agitator is outside the collection zone of the reservoir, wherein the collection zone is at a first end of the reservoir and the agitator comprises a first lifter member that extends towards a second end of the reservoir opposite the first end.

2. The elevator feeder of claim 1, wherein: the collection zone extends from the first end of the reservoir to a distal edge of the collection zone; a proximal end of the first lifter member is pivotably coupled to a base of the reservoir at the distal edge of the collection zone; and the first lifter member is configured to rotate about the proximal end of the first lifter member between an extended position and a retracted position.

3. The elevator feeder of claim 2, wherein the distal end of the first lifter member is hingeably coupled to a proximal end of a second lifter member.

4. The elevator feeder of claim 3, wherein a distal end of the second lifter member is slideably coupled to the base of the reservoir.

5. The elevator feeder of any of claims 2 to 4, wherein a base of the reservoir comprises a first base portion and a second base portion, wherein the first base portion is spaced apart from the second base portion to form a central channel extending from the first end of the reservoir to the second end of the reservoir and wherein the agitator is positioned in the central channel.

6. The elevator feeder of any of claims 2 to 5, wherein the first lifter member comprises: a first side wall;a second side wall spaced apart from, and parallel to, the first side wall; and a roofing portion extending between a top edge of the first sidewall and a top edge of the second sidewall.

7. The elevator feeder of claim 6, wherein the roofing portion comprises: a proximal roofing portion at a proximal end of the first lifter member, the proximal roofing portion comprising a planar surface perpendicular to the first and second side walls; and a distal roofing portion at a distal end of the first lifter member, the distal roofing portion comprising a pitched roof profile.

8. The elevator feeder of any of claims 2 to 7, wherein the reservoir comprises a fixed tang extending from the distal edge of the collection zone towards the first end of the reservoir9. The elevator feeder of any preceding claim, wherein the elevator feeder comprises a drive motor configured to drive both the agitation system and the elevation mechanism.

10. The elevator feeder of any preceding claim, wherein the collection zone is at a first end of the reservoir and a base of the reservoir comprises a gradient for biasing the plurality of balls via gravity towards the first end of the reservoir and / or the collection zone.

11. An elevator feeder for loading balls into a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; and an elevation mechanism for elevating the balls in a sequential manner along an elevation axis from the reservoir to a ball delivery unit, the elevation mechanism comprising: a conveyor; and a plurality of ball supports coupled along a length of the conveyor, wherein each ball support comprises: a mounting portion for coupling the ball support to the conveyor; and a supporting portion for supporting one of the plurality of balls.

12. The elevator feeder of claim 11, wherein the supporting portion extends from the mounting portion such that during elevation of the ball along the elevation axis, asupporting plane of the supporting portion forms a biasing angle with the elevation axis for biasing the ball towards the mounting portion.

13. The elevator feeder of claim 12, wherein the biasing angle is less than 90 degrees.

14. The elevator feeder of claim 12 or claim 13, wherein the biasing angle is from 70 to 85 degrees.

15. The elevator feeder of any of claims 11 to 14, wherein the mounting portion comprises a ball-centering feature for aligning the ball with a central axis of the supporting portion.

16. The elevator feeder of claim 15, wherein the mounting portion comprises a mounting plate and the ball-centering feature comprises a supporting flange extending from the mounting plate and spaced apart from the supporting plane.

17. The elevator feeder of any of claims 11 to 16, wherein the supporting portion comprises a supporting fork comprising a first supporting arm and a second supporting arm extending in the supporting plane, wherein the first supporting arm is spaced apart from the second supporting arm.

18. The elevator feeder of claim 17, wherein each of the first supporting arm and the second supporting arm comprise: a base portion extending within a supporting plane of the supporting portion; and a sidewall portion with a length of the sidewall portion extending parallel to a length of the base portion and wherein a height of the sidewall portion extends out of the supporting plane.

19. The elevator feeder of claim 17 or claim 18, wherein the spacing between the first supporting arm and the second supporting arm is non-circular.

20. The elevator feeder of any of claims 17 to 19, wherein an internal edge of the first supporting arm and an internal edge of the second supporting arm each comprise a straight portion parallel to a central axis of the supporting portion, the straight portion for supporting the ball.

21. The elevator feeder of any of claims 17 to 20, wherein the straight portions of the first supporting arm and the second supporting arm extend to a distal edge of the supporting portion.

22. The elevator feeder of any of claims 17 to 21, wherein a proximal edge of the first supporting arm and a proximal edge of the second supporting arm each extend perpendicular to the central axis and in the supporting plane.

23. An elevator feeder for loading balls into a sports simulation apparatus, the elevator feeder comprising: a reservoir for storing a plurality of balls; a ball delivery unit for delivering balls to a ball projection apparatus; an elevation mechanism for elevating the balls in a sequential manner from the reservoir to the ball delivery unit, the elevation mechanism comprising: a conveyor; a motor configured to drive the conveyor; and a plurality of ball supports coupled along a length of the conveyor, a ball support sensor configured to detect when a ball support is in a ball delivery position; and a processor configured to: receive a support sensor signal from the ball support sensor; and control the motor to stop driving the conveyor when the ball support sensor signal indicates that the ball support is in the ball delivery position.

24. The elevator feeder of claim 23, wherein the ball delivery position comprises a ball delivery range.

25. The elevator feeder of claim 23 or claim 24, wherein the ball position sensor comprises a magnetic sensor or a radiation sensor.

26. The elevator feeder of any of claims 23 to 25, wherein the ball support comprises: a ball supporting feature extending along a supporting plane transverse to the length of the conveyor; and one or more sidewall features extending along a plane transverse to the length of the conveyor and transverse to the supporting plane.

27. The elevator feeder of any of claims 23 to 26, wherein the ball support sensor is positioned: within the ball delivery unit; or along a return path of the conveyor from the ball delivery unit towards the reservoir.

28. The elevator feeder of any of claims 23 to 27 , wherein the motor comprises a stepper motor.

29. The elevator feeder of any of claims 23 to 28, wherein the processor is configured to control the motor to: drive the conveyor in a first forward motion by a first predetermined number of motor steps; and responsive to the support sensor signal indicating that a ball support is in the ball delivery position, interrupt the first forward motion.

30. The elevator feeder of claim 29, wherein the processor is configured to control the motor to: drive the conveyor in a second forward motion by a second predetermined number of steps if the support sensor signal indicates that no ball support is in the ball support position during the first forward motion.

31. The elevator feeder of claim 30, wherein the processor is configured to control the motor to: drive the conveyor in a first reverse motion by a predetermined number of reverse steps if the support sensor signal indicates that no ball support is in the ball support position during the first forward motion and the second forward motion; and drive the conveyor in a third forward motion by a third predetermined number of steps; and responsive to the support sensor signal indicating that a ball support is in the ball delivery position, interrupt the first forward motion; and responsive to the support sensor signal indicating that no ball support is in the ball delivery position, output an alert signal.

32. The ball support of any of claims 29 to 31, wherein the processor is configured to output a motor failure warning based on a frequency of instances of the support sensor indicating that no ball support is in the ball support position during the first forward motion.

33. The elevator feeder of any of claims 23 to 31, wherein the elevator feeder comprises a ball sensor configured to detect whether a ball is delivered from the ball delivery position.

34. The elevator feeder of claim 33, wherein the processor is configured to receive a ball sensing signal from the ball sensor after a dwell time following receipt of a support sensing signal indicating detection of a ball support.

35. The elevator feeder of claim 33 or claim 34, wherein the processor is configured to: receive a ball sensing signal from the ball sensor; and responsive to the ball sensing signal indicating that a ball is delivered from the ball delivery position, await a ball projection complete signal from the ball projection apparatus before controlling the motor to drive the conveyor.

36. The elevator feeder of any of claims 33 to 35, wherein the processor is configured to: receive a ball sensing signal from the ball sensor; and responsive to the ball sensing signal indicating that no ball is delivered to the ball projection apparatus, control the motor to drive the conveyor forward for receiving a ball from a subsequent ball support.

37. The elevator feeder of any of claims 33 to 36, wherein the processor is configured to: output a reservoir empty signal if the processor receives: a predetermined number of consecutive support sensing signals indicating detection of a corresponding ball support; and a corresponding predetermined number of ball sensing signals indicating that no ball was delivered to the ball projection apparatus.

38. The elevator feeder of any preceding claim, wherein the elevator feeder comprises: a camera configured to capture an image of the reservoir; and a processor configured to process the image to determine a state of the reservoir, wherein the state of the reservoir comprises one or more of: an empty state indicating that there are no balls in the reservoir;a replenish state indicating that the reservoir contains less than a threshold number of balls; a supplied state indicating that the reservoir contains at least the threshold number of balls; and a cave state indicating that a cave has formed around a ball collection zone of the reservoir; and output a reservoir state signal based on the state of the reservoir.

39. The elevator feeder of claim 38, wherein the reservoir state signal comprises a user alert signal if the reservoir state comprises the replenish state or the empty state.

40. The elevator feeder of claim 38 or claim 39, wherein the processor is configured to output the reservoir state signal to activate an activation system if the state of the reservoir comprises the cave state.

41. The elevator feeder of any preceding claim, wherein the elevator feeder further comprises a chute for returning fallen balls to the reservoir, wherein the chute provides a path for balls which have fallen off the elevation mechanism to return to the reservoir.

42. The elevator feeder of claim 41, wherein the chute is positioned between an elevation path and a return path of the elevation mechanism.

Images