Compact automated basketball retrieving system

Abstract

An automated basketball retrieving system including a funnel-shaped ball-capture net, a ball returner that can pass a collected ball to a player on the court, a ball transfer system that transfers the ball from the ball-capture net to the ball returner, and an electronic control system. The ball-capture net is constructed from light-weight flexible members that allow the retrieving system to collapse to a small size and wherein the flexible members are sufficiently light-weight to allow a single person to carry and assemble the basketball retrieving system. The ball returner may be powered or unpowered and has a horizontal swiveling axis enabling the ball returner to return balls to various locations on the court.

Description

[0001] Compact Automated Basketball Retrieving System

[0002] CROSS REFERENCE TO RELATED APPLICATIONS

[0003]

[0001] This application claims priority to US Provisional Application No . 63 / 747 , 196 filed on January 20 , 2025 .

[0004] BACKGROUND

[0005]

[0002] The present invention relates to sports training, and in particular to systems that assist an athlete through a sports training workout . Training in sports involves the development of skills as well as physical conditioning . Although it is a team sport, basketball presents opportunities for an individual player to practice and improve his or her game without the need for other players to be present . A player can develop ball handling skills and shooting skills through individual practice . The game of basketball requires physical strength and conditioning, and also requires special skills .

[0006] Successful development of those skills requires repetition during practice .

[0007]

[0003] Basketball players develop their shooting skills by shooting the basketball from various locations on the court . If a second player is not present to rebound, the shooter must rebound his or her own shots . The rebounding process can waste time that could otherwise be used in taking more shots . Over the past several decades , a number of ball-collecting devices have been developed to collect basketball shots at a basketball goal (i . e . a circular rim and rim extension) . The ball collecting devices generally include netting and a frame for supporting the netting around the basketball goal . Ball collecting devices are often used with a ball delivery device, which directs the ball back to the player .

[0008]

[0004] In the game of basketball, it is well known that extensive practice by shooting a ball through a basketball goal improves the frequency of making a goal . In order to be a versatile player, it is important to improve shooting skills from a plurality oflocations on the court ; thus , shooting practice typically involves structured drills that allow players to hone their skills at a variety of court locations . After each practice shot, players must rebound the ball after the ball passes through or misses the goal . Rebounding is performed by either a second player on the court, by the shooting player alone or by an automated retrieving device . Automated retrieving devices can save time when practicing alone , as they allow players to take more shots during a limited practice time and spend less time chasing errant balls . Various such systems have been described in the prior art ; however, the most recently described systems collect rebounds from either made or missed shots and pass balls back to players at a plurality of shooting locations across the court . The most effective automated retrieving devices utilize powered arms , rollers , or other devices to deliver rebounded balls to players in a manner similar to receiving a pass from a human rebounder . These powered rebounders may be driven by computer programs that can vary the traj ectory and speed of passes to the player across different court locations .

[0009]

[0005] Automated basketball retrieving devices may also optionally include shot result monitors that are able to keep count of goal makes , misses , etc . Such systems may also calculate a plurality of performance statistics , such as number of attempted shots , makes and make percentages at various shooting locations .

[0010]

[0006] Although most automated ball retrieving systems are described as "portable", they are generally very large , heavy, and unwieldy to move , set up and store . Systems with a motorized returner typically sit on the playing surface, upon which they rely for support, and utilize wheels to make motorized returner systems easier to transport . Motorized returner systems also require a large amount of electrical power to operate and need to be plugged into a wall socket , which may be difficult to arrange in a gym and often not feasible for many outdoor courts .

[0011] SUMMARY OF THE INVENTION

[0007] In accordance with the present invention, a basketball automated retrieving system broadly comprises : 1 ) A passive ballcapture net that is funnel-shaped and positioned under and around the hoop, 2 ) A ball returner that can pass a ball to a player on the court, 3 ) A ball transfer system that transfers the ball from the ball-capture net to the ball returner, and 4 ) An optional electronic control system to oversee all operations . The ball returner can pass a ball to a user on a court and is rotationally connected to a connecting frame , with said rotational connection about a vertical axis . The rotation ( swivel ) may be powered or unpowered (manual ) and the returning function may be powered or unpowered . Unpowered returning functions typically utilize gravity and a ramp to return the ball . Systems with a motorized (powered) returner, which are electronically powered and actively "shoot" the ball back to the player, more closely emulate passes from human players . Ball returners may furthermore be configured to return the ball at selected azimuth (horizontal) angles through either a manually set position or a motorized swivel , which may have electronically set positions .

[0012]

[0008] Accordingly, it is an object of the present invention to provide a basketball retrieving system that may optionally operate without a power cord to a wall socket .

[0013]

[0009] It is another obj ect of the present invention to provide a basketball retrieving system that is sufficiently light in weight to be carried, assembled and lifted into place by a single average-sized person .

[0014]

[0010] It is yet another obj ect of the present invention to provide a basketball retrieving system that requires sufficiently low electrical power and overall energy to be battery operated .

[0015]

[0011] It is yet another obj ect of the present invention to provide a basketball retrieving system that is sufficiently physically stable to return a ball to a player at a velocity commensurate with a human pass , yet not rely on a large system mass or support through a direct interface to the playing surface .

[0012] Yet another obj ective of the present invention is to provide a basketball retrieving system which allows automated variation in passing distance, velocity, and direction of retrieved basketballs .

[0016]

[0013] It is yet another obj ect of the present invention to provide a basketball retrieving system to execute programs that comprise drills or workouts, which can vary time intervals between retrievals , number of cycles , passing velocities , and passing locations .

[0017]

[0014] It is yet another obj ect of the present invention to provide a basketball retrieving system that may be wirelessly connected to a remote computational device , enabling the basketball retrieving system to execute programs residing on the remote computational device .

[0018]

[0015] It is yet another obj ect of the present invention to provide a ball-capture net with a top edge comprised of points that are approximately equidistant from the center of the basketball goal .

[0019]

[0016] It is a further obj ect of the present invention to provide a basketball retrieving system that is compact for storage , yet simple to assemble to a large size for effective ball capture and retrieval .

[0020]

[0017] The foregoing obj ects are attained by the basketball retrieving system of the present invention .

[0021]

[0018] Other details of the basketball retrieving system of the present invention, as well as other objects and means attendant thereto are set forth in the following detailed description and the accompanying drawings wherein like reference numerals depict like elements .

[0022] BRIEF DESCRIPTION OF THE DRAWINGS

[0023]

[0019] Fig . 1 illustrates a front view of a first embodiment of a compact automated basketball retrieval system incorporating a motor-driven return system in accordance with the present invention;

[0020] Fig . 2 illustrates a front view of a second embodiment of a compact automated basketball retrieval system incorporating a ramp in accordance with the present invention;

[0024]

[0021] Fig . 3 illustrates a front view of the ball queuing and throwing portions of a first embodiment of a compact automated basketball retrieval system in accordance with the present invention;

[0025]

[0022] Fig . 4 illustrates a top view of the ball-capture net portion in accordance with the present invention;

[0026]

[0023] Fig . 5 illustrates a front view of the connecting frame and strap portions in accordance with the present invention;

[0027]

[0024] Fig . 6A illustrates a front view of the connecting frame and backboard hook portions in accordance with the present invention;

[0028]

[0025] Fig . 6B illustrates a front view of a tilted connecting frame and backboard hook portions in accordance with the present invention;

[0029]

[0026] Fig . 6C illustrates a front view of the connecting frame and backboard hook portions in another embodiment in accordance with the present invention;

[0030]

[0027] Fig . 7 illustrates the backboard hook and hook mount portions in accordance with the present invention;

[0031]

[0028] Fig . 8A illustrates a top view of the goal shelves and telescoping lateral support arms portions in accordance with the present invention;

[0032]

[0029] Fig . 8B illustrates a perspective view of the goal shelves and goal ring in accordance with the present invention;

[0033]

[0030] Fig . 9 illustrates a top view of three superimposed swiveling ball return mechanism portions in accordance with the present invention;

[0031] Fig . 10 illustrates a top view of a vibration mode shape for the ball-capture net in accordance with the present invention;

[0034]

[0032] Fig . 11 illustrates the pole portion of the ballcapture net in accordance with the present invention;

[0035]

[0033] Fig . 12 illustrates one embodiment of a connecting tee of the ball-capture net in accordance with the present invention;

[0036]

[0034] Fig . 13A illustrates a portion of the connections of the pole portion of the ball-capture net in accordance with the present invention;

[0037]

[0035] Fig . 13B illustrates a collapsed configuration of the pole portion of the ball-capture net in accordance with the present invention;

[0038]

[0036] Fig . 14A illustrates a collapsed configuration of the tee portion of the ball-capture net in accordance with the present invention;

[0039]

[0037] Fig . 14B illustrates a collapsed configuration of the pole portion of the ball-capture net in accordance with the present invention;

[0040]

[0038] Fig . 15A illustrates a front view of the ball-capture net portion at three different heights in accordance with the present invention;

[0041]

[0039] Fig . 15B illustrates a front view of a section of a lateral support arm and backboard hook in accordance with the present invention;

[0042]

[0040] Fig . 16A illustrates a portion of the embodiment of Fig . 2 in its as sembled configuration .

[0043]

[0041] Fig . 16B illustrates the same portion of the embodiment of Fig . 2 in its folded configuration .

[0044]

[0042] Fig . 16C illustrates an embodiment of Fig . 2 reconfigured for transport .

[0043] Fig . 16D illustrates another embodiment of Fig . 2 reconfigured for transport .

[0045]

[0044] Fig . 17A illustrates an embodiment of a ball es capement system operating on full si zed bas ketballs ;

[0046]

[0045] Fig . 17B illustrates the same embodiment of a ball es capement system operating on youth s ized bas ketballs ;

[0047]

[0046] Fig . 17C illustrates another embodiment of a ball es capement system on a ball feed ramp ;

[0048]

[0047] Fig . 18 illustrates ball queuing , loading and throwing steps in accordance with the present invention ;

[0049]

[0048] Fig . 19 illustrates a cam and cable configuration of another embodiment in accordance with the present invention;

[0050]

[0049] Fig . 20 illustrates timing diagrams for an impacting arm and an escapement in accordance with the present invention ;

[0051]

[0050] Fig . 21 illustrates an example of a drive clutch in accordance with the present invention;

[0052]

[0051] Fig . 22 illustrates another example of a drive clutch in accordance with the present invention;

[0053]

[0052] Fig . 23 illustrates a dual shaft configuration of a portion of a compact automated bas ketball retrieval system in accordance with the present invention;

[0054]

[0053] Fig . 24 illustrates an example of an impact-arm shroud in accordance with the present invention;

[0055]

[0054] Fig . 25 illustrates another example of an impact-arm shroud in accordance with the present invention;

[0056]

[0055] Fig . 2 6 illustrates an example of an internal side view configuration of an impact-arm shroud in accordance with the present invention;

[0056] Fig . 27 illustrates an example of a collapsed configuration of an impact-arm shroud in accordance with the present invention;

[0057]

[0057] Fig . 28 illustrates another example of an impact-arm shroud in accordance with the present invention;

[0058]

[0058] Fig . 29 illustrates an example of a closed configuration of an impact-arm shroud in accordance with the present invention;

[0059]

[0059] Fig . 30 illustrates a block diagram for an example control system in accordance with the present invention;

[0060]

[0060] Fig . 31 illustrates a block diagram for an example control system for a non-motorized return version of the system in accordance with the present invention;

[0061]

[0061] Fig . 32 and 33 illustrate example flow charts in accordance with the present invention .

[0062] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT ( S )

[0062] In order to eliminate a power cord to a wall socket, an automated ball retrieving system needs to be designed to limit the amount of power required to function so that the automated ball retrieving system may be powered by a compact, low-cost battery system. For an automated ball retrieving system, such as the one shown in Fig . 2 , that utilizes a gravity-based ramp 44 as the automated ball retrieving system' s return mechanism 30 , the required power and overall energy is relatively low, and only a small-capacity battery may be required . For motorized-return-based automated ball retrieving system such as the one illustrated in Fig . 1 , the aspect that requires the most power is the "throwing" portion . Used herein, the terms throw, fling, propel, and pass are used interchangeably and are meant to all mean the act of causing a ball to ballistically move from the return mechanism 30 back to the user . One of three methods for a motorized return system 30 to propel a ball can be utilized : 1 .

[0063] Motorized dual rollers that are constantly rotating and pinch the ballbetween the rollers to accelerate and propel it, 2 . A catapult arm that cradles the ball and flings the ball off the arm to propel the ball , and 3. An impacting mass that collides with the ball and imparts the impacting mass ' s momentum to the ball to propel the ball . Each method transfers energy to the ball in order to propel the stationary ball and accelerate the ball to the required speed for a pass . Upon exit from the retrieving system, the ball will have a kinetic energy of :

[0064]

[0063] KE = ^MBVE2

[0065]

[0064] Where KE is kinetic energy, MBis the mass of the ball and vBis the velocity of the ball .

[0066]

[0065] To achieve both the low-weight and low-power objectives of the current invention, a propelling system that does not require large, heavy components , nor excessive energy is needed .

[0067]

[0066] In the case of the propelling method using motorized dual rollers , one or more motors are required to constantly spin the two rollers so they need not be accelerated from rest when a ball arrives . Thus , even when there is no retrieval in process , power must be used to keep the rollers moving, as well as recover any lost speed after some of their angular momentum has been transferred to a ball being launched . Thus , this method does not meet the obj ective of low power, as energy is constantly expended to keep the rollers spinning .

[0068]

[0067] In the case of the propelling method using a catapult arm, either potential energy needs to be stored in a pivoting arm mechanism, then released when the ball is flung out of the machine or work needs to be applied to the arm from an actuator, such as a motor drive . It is also feasible to use some combination of stored energy and active work transfer . In the case of the motor drive of the catapult arm, all of the kinetic energy needs to be imparted to the ball over the relatively short time interval and short distance of catapult arm travel, which typically would be about 30-90 degrees of travel about its pivot and fractions of a second ( to achieve theappropriate ball velocity) . A larger angular excursion (greater than 90 degrees ) would require a larger swing volume of the arm / ball system as well as a means of securing the ball to the arm, both of which make the large excursion more complex and impractical . Even with a larger excursion, significant power would need to be input into the arm as the motion time would still be fractions of a second to meet the ball velocity requirement . This means that a significant amount of power needs to be output by the motor over a short distance, which does not meet the obj ective of low power or low weight, as high-power motors are relatively heavy.

[0069]

[0068] If , on the other hand, the catapult arm is accelerated by a transfer of stored energy from a compliant element such as a linear or torsional spring, with spring constant k, to kinetic energy of the ball and arm, then the stored potential energy in the spring is :

[0070]

[0069] PE =^k( -X )

[0071]

[0070] Where PE is potential energy, Xf is the final extended stretch of the spring and x, is the initial shorter stretch of the spring .

[0072]

[0071] For the rotating catapult arm driven by a spring, there is a limited range of swing for the arm (small Xf — x, ) as previously described . Similarly, for a linear spring-powered catapult linear ram, the travel distance to stretch a spring is constrained for a reasonable-length system. Thus , in order to store a large amount of energy in a compact system, the spring constant k needs to be large . This makes for a potentially large and heavy spring (typical in currently available floor-standing commercial systems ) , which does not meet the low-weight objective . Significant power will also be required to wind the high-spring-constant spring .

[0073]

[0072] Another method of storing energy that may power a catapult arm is to use pressurized air or hydraulic fluid and a pneumatic or hydraulic actuator . This can deliver a significant amountof power to the arm; however, the infrastructure needed to support the air compressor or hydraulic pump does not meet the low-weight objective . Also, they tend to have lower overall energy efficiency, so the low-power / low-energy obj ective is also not met .

[0074]

[0073] In the case of the impacting mass propulsion method , the constraints are similar to those in the catapult arm; however, because the impacting arm, which is used to store the required energy to eventually propel the ball, does not include the ball, there is more freedom to design a system with a larger excursion in a lower volume envelope . The use of a spring that may be stretched in the recovery period between throws , allows more time to stretch a spring and therefore a lower power than systems that only generate work during the throwing cycle . For example , if the excursion of a typical spring-driven, pivoted catapult arm is about 60 degrees , that may be increased by a factor of about 5x for a rotating impacting arm that may be wound against a spring to about 300 degrees . Because the potential energy stored in a spring is a squared function of the distance the spring is wound, but only a linear function of the spring constant , it is more desirable to utilize the largest winding distance possible . Also , a higher spring constant will typically require a heavier spring, whereas a longer wind distance requires relatively little additional weight . That means to obtain the same potential energy using a larger spring in a 60-degree wind-angle , the spring would need to have a spring constant that is about 25 times as large as one that might be used in a system with the larger 300-degree spring-wind angle, necessitating a significantly more massive spring . For example, to propel a 1 .3-pound ( 0. 6 Kg ) basketball to a player standing beyond the 3-point line on a court, a steel spring that is wound 300 degrees would weigh about 2 pounds ( 1 kg ) . Alternatively, a spring that has 25 times the stiffness and say half the length ( since the total stretch would be less ) might weigh 20 pounds ( 9 kg) . Adding this to the weight of the other components in the automated basketball retrieval system would make for a significantly heavier system that would be very difficult to lift by one or two people . It is also abenefit that the winding of a less stiff , longer spring reguires less torque or force than a short and stiff spring, thereby reducing the weight of and the instantaneous power requirement for the motor that performs the winding, the "wind motor" .

[0075]

[0074] An additional benefit of using a less stiff , longer winding spring is the reduction in the reaction force within the throwing system. Newton' s third law of motion states that for every action ( force ) there is an equal and opposite reaction ( force ) . The reaction forces generated by the ball propulsion mechanisms in the motorized dual rollers and catapult systems are easily generated by resting the systems on the playing surface , as is done by prior art systems . In the impacting mass propulsion system, the reaction forces are generated while the impacting arm or ram is being accelerated, as the transfer of momentum to the ball and the winding of a spring are internal to the system and do not generate forces against the outside world . The magnitude of the reaction force depends on how much force is provided by the spring in the system. Thus , a lower-spring-constant spring with a longer wind distance will generate smaller reaction forces than a system with a stiffer spring and shorter wind distance . In addition, a torsional spring will generate reaction torques rather than linear forces , which is preferable for a compact, low-weight system that does not rely on support from the playing surface .

[0076]

[0075] These benefits are some of the bases for the motorized return portion of current invention, as a low spring constant, long wind, torsional spring configuration meets the obj ectives of a relatively compact size, low weight, and low power system that does not rely on being rested on a playing surface 199.

[0077]

[0076] In a preferred embodiment for the motorized return portion of the current invention, a torsion spring 36 is attached to a shaft 25 that drives an impacting arm 35 . The radius , Rjm, along the arm 35 at which the impact occurs and mass moment of inertia ( J) of the arm and the rest of the rotating system is selected such that a basketball of mass MBbeing impacted "sees" a mass of equal weightduring impact . In other words , the rotational impacting arm 35 has a mass moment of inertia approximately equal to the mass of a basketball times the square of the distance between the ball impact point and the pivot point along the impacting arm

[0078]

[0077] J = MBRIm2

[0079]

[0078] A principle in physics dictates that the maximum percentage of energy may be transferred from a moving obj ect to a stationary obj ect when they both have the same mass , because in an elastic collision of bodies with equal mass , they will simply exchange their momenta . Thus, the impacting arm 35 with an apparent equivalent mass will come to rest , and the ball 6 will have the linear velocity of the impacting arm at the point of contact . If the impacting arm 35 had a higher inertia, then the arm would continue to move forward after the impact and if the arm had a lower inertia, the arm would bounce slightly backwards . No collision is one hundred percent efficient, so there will be some losses of energy; however, designing an impacting arm 35 with an equivalent mass to the ball 6 will result in maximum energy transfer .

[0080]

[0079] Referring to Fig . 3 , the rotating impacting arm 35 and spring 36 systems are supported on an arm / spring / throwing shaft 25 and pair of bearings 37. The distal end of the torsion spring 36 is connected to the far end of the arm / spring / throwing shaft 25 and the proximal end of the spring is connected to the stationary base close to the bearings 37 and arm 35 . The proximal end of the arm / spring / throwing shaft 25 continues through the bearings 37 to a wind motor drive clutch 160. The arm / spring system is configured to rotate a significant proportion of a full turn, preferably 270 or 300 degrees but other amounts of rotation are also possible . In preferred embodiments, the arm 35 moves through an angle greater than 90 degrees and preferably between 90 and 360 degrees . This is in addition to any pre-winding of the spring 36, which would increase the torque at all arm angles . The relatively large wind angle of the spring 36 enables the use of a smaller, lower-power wind motor 38 , which in turnsupports a lighter, lower-power ball retrieval system. When there is no outside torque applied to the system, the throwing arm 35 comes to rest at the "rest position" against a damper, bumper or stop designed to absorb the arm' s energy to slow the arm in the case when a smaller ball or no ball is present .

[0081]

[0080] The wind motor drive interface is fitted with a clutch system 160 that may either allow the free rotation of the arm / spring / throwing-shaf t 25 system independent of the motor 38 or may be connected to a wind motor 38 output shaft to allow the torque generated by the wind motor 38 to wind the spring 36. Because the winding of the spring 36 will always be initiated after a ball collision from the previous throw, the clutch 160 needs only to initiate its engagement, where the wind-motor shaft 164 may transfer power to the arm / spring / throwing-shaf t 25 , near the arm 35 rest position . However, in order to allow for different programmable throw distances , the winding of the wind motor 38 may not always be at the maximum rotation angle . For example, if the maximum rotation angle (maximum winding of the spring 36 ) is capable of throwing the ball to a player at the three-point line of a basketball court , perhaps only 2 / 3 of the maximum wind is necessary to throw the ball to a player at the foul line . Thus, the clutch 160 needs to be designed to disengage at any angle of wind of the spring 36, thereby allowing the arm 35 to rotate under the spring 36 torque and strike the ball 6. Also, the arm / spring / throwing-shaf t 25 system needs to be fixed at the desired wind angle prior to the clutch 160 being disengaged to allow for sufficient time for the clutch 160 to be clear from the arm / spring / throwing-shaf t 25 rotation during the throwing action .

[0082]

[0081] In one embodiment shown in Fig . 21 , in order to lock the arm / spring / throwing shaft 25 in place, a ratchet / pawl system is utilized, where a circular ratchet 161 is affixed to the impacting arm / spring / throwing shaft 25 and a rotating pawl 162 is attached to a non-rotating portion of the system. This allows the spring 36 to be wound to any tooth of the ratchet 161 by the wind motor 38 , then when the wind motor 38 is reversed, the arm / spring / throwing shaft 25 iskept in place . The pawl 162 may then be released when throwing the ball 6 is desired . Such pawl 162 release may either be performed by a separate actuator, such as a linear or rotary solenoid, electric motor, etc . or by the rotation of the wind-motor shaft 164 to a pawl 162 release position .

[0083]

[0082] In the preferred embodiment of 300 degrees of spring wind, there is another 60 degrees of rotation that is available to complete a single rotation, where no spring winding (or unwinding) will occur . This "dead" rotation zone may be utilized to perform the pawl 162 retraction resulting in the clutch 160 release . In one embodiment shown in Fig . 21, the wind-motor shaft 164 is not directly connected to the arm / spring / throwing shaft 25 but incorporates a drive arm 167 that can catch one drive dog 165 (protrusion that articulates on the drive arm 167 ) or two drive dogs 165 , 166 rigidly connected to the circular ratchet 161. Two drive dogs are preferable, as the sideways reaction forces on the bearings and shaft is minimized . This allows the winding motor ( also referred to as the wind motor) 38 to wind the spring 36 , then when reversed, the drive arm 167 moves away from the dog 165 or dogs 165 , 166 and may lift the pawl 162 as the pawl 162 rides up a cam shape 168 on one of the drive arm' s ends . As the pawl 162 clears the ratchet wheel 161 , the pawl releases the ratchet 161 and allows the attached arm / spring / throwing-shaf t system 25 to execute a throw .

[0084]

[0083] Alternatively, the pawl 162 may incorporate a cam shape 172 along an extended arm, which allows a cam follower 173 to move the pawl away from the ratchet 161 until the pawl is disengaged, and a release is affected, as illustrated in Fig . 22 . In addition, the pawl 162 may have a biasing element 175 , such as a spring, that produces a biasing force that keeps the pawl 162 engaged with the ratchet 161. Other methods of producing a biasing force, such as the force of gravity, a magnetic force , etc . are also possible . In a preferred embodiment, in addition to or as an alternative to the pawl 162 being moved away from the ratchet 161 by the cam follower 173 on the drive arm 167 , an active actuator 174 , such as an electronicsolenoid, motor, pneumatic ram, etc . , may be used to counter the biasing element 175 so that the pawl 162 becomes or remains disengaged from the ratchet 161 when the cam follower 173 is not articulated on the pawl cam shape 172 . Such an active actuator 174 , would necessarily need to generate a relatively large force to affect a pawl 162 disengagement from a ratchet 161 under a state of significant torque from the torsional spring 36; however, a relatively low-force-generating active actuator 174 is still of significant benefit . For example, if the active actuator 174 is activated after the pawl 162 has been disengaged by the cam follower 173 on the drive arm 167 , the pawl 62 may remain disengaged, thereby allowing the wind motor 38 to position the arm / spring / throwing-shaf t 25 in either direction. A second benefit to a low-force-generating active actuator 174 is to help reset the arm / spring / throwing-shaf t 25 to a home orientation if the arm / spring / throwing-shaf t 25 is not already there (the impacting arm index sensor 112 is not made ) when the system powers up or any other time that might be desirable . The state of the system with the arm / spring / throwing-shaf t 25 not being in the home position is possible if the system was shut down when the arm / spring / throwing-shaft 25 was not in the home position at the time the power was turned off, or if a user happens to move the arm / spring / throwing-shaf t 25 away from the home position, as the ratchet 161 would not allow the arm / spring / throwing-shaf t 25 to return . To re-home the arm / spring / throwing-shaf t 25 , the wind motor 38 would be actuated and the drive arm 167 would engage the dogs 165 , 166 and slowly turn the ratchet 161, slightly increasing the torsion from the torsional spring 36 and releasing the stress on the pawl 162 caused by the tensioned torsional spring 36. This enables the low-force-generating active actuator 174 to retract the unstressed pawl 162 and allow the wind motor 38 to then reverse direction and gently guide the arm / spring / throwing-shaf t 25 back to its home orientation.

[0085]

[0084] Using the reverse action of the wind motor 38 to lift the pawl 162 eliminates the need for a secondary high-force actuator, as the wind motor 38 is required to be a high-force (torque ) actuatorin order to wind the spring 36 , and its high-torque capabilities are virtually unused in the direction opposite the spring 36 winding direction . In addition, reversing the wind motor 38 to an orientation close to its home position eliminates the possibility of the drive dogs 165 , 166 striking the drive arm 167 as the arm / spring / throwing-shaft 25 rapidly rotates during the ball impact phase .

[0086]

[0085] In an embodiment where the arm / spring / throwing-shaf t 25 is wound more than 180 degrees and two drive dogs 165 , 166 are used, it may not be possible to reverse the direction of the drive arm 167 without hitting the back side of the drive dogs 165 , 166. To remedy this situation, an inner drive dog 166 at a smaller radius on the circular ratchet 161 and an outer drive dog 165 at a larger radius may be used in partnership with a drive arm 167 that has two geometric enhancements . One end 169 of the drive arm 167 may be cut sufficiently short so as to miss the outer dog 165 , but not short enough to miss the inner dog 166. In addition, the incorporation of a lateral relief 163 on the drive arm 167 will allow the other end of the arm 167 to miss the inner dog 166 but not affect the articulation of that end of the arm 167 with the outer dog 165 . Thus , after winding the arm / spring / throwing-shaf t 25 , say 300 degrees , the drive arm 167 may be fully reversed back to a home position where the drive arm 167 can actuate the pawl 162 . The phantom outline of the drive arm 167A in Fig . 21 illustrates how the drive arm 167 passes by the two dogs 165 , 166 on its way back to the home position where its cam-shaped end 168 may release the pawl 162 .

[0087]

[0086] In some embodiments , it is important for the controller 99 to determine whether the drive arm 167 and the arm / spring / throwing-shaf t 25 are at their home ( index) positions .

[0088] Because these are not rigidly coupled to one another, two sensors are required : a throwing-arm index sensor 112 and a wind-motor index sensor 113 . These sensors may use any number of technologies to detect the index position of the rotating subsystems including optical interrupter, optical retro-reflection, Hall effect , magnetic reed, microswitch, capacitance, inductance, etc . Optical interrupterstypically include an LED light source with an opposing optical sensor in a compact package . When a blade ( interrupter) is passed between the LED and the detector, the sensor is triggered (turns on) . An index location may be precisely determined when the interrupter transitions from off to on . Both the circular ratchet 161 and the drive arm 167 may have a prominent feature 170 , 171 that may be detected by one or more of the aforementioned sensors . Such prominent features 170 , 171 may or may not necessarily be physical , for example, instead of an optical interrupter, an embedded magnet or retroreflector may be utilized .

[0089]

[0087] One skilled in the art will recognize that there are a plurality of methods for winding a spring attached to an arm, holding the arm in position, then releasing the arm when required . Such a mechanism may be in the form of a friction brake, magnetic brake, wrapped-spring clutch, etc . , all of which should be considered part of the present invention .

[0090]

[0088] In another embodiment, a longer spring may be wound by a wind motor, then used to drive a shorter-stroke arm through a transmission . The advantage of this embodiment is that the catapult arm, impacting arm or striking arm ( the term actuator arm is used for all these cases ) need not have large displacements to get the benefits of a large potential energy storage from a long spring stretch .

[0091] Generally, any actuator arm moves in a vertical plane that includes the ball center . The vertical plane is In the case of a torsion spring, a wind motor may even wind the spring several turns , which would be more difficult for a spring directly attached to an actuator arm. The output of the spring would pass through a transmission, such as a gearbox or a toothed belt system with different sized pulleys , to drive the actuator arm. The advantages of this system would need to be weighed against the disadvantages of higher cost, lower efficiency, higher complexity, higher weight from the transmission and a longer spring .

[0092]

[0089] Although the impacting arm 35 , spring 36 , clutch 160 and wind motor 38 are described as being on a singlearm / spring / throwing-shaf t 25 , in another embodiment, multiple shafts may be utilized . It should be understood that although the arm / spring / throwing shaft 25 is predominantly described herein as a single shaft , multiple shaft configurations should also be associated with all such descriptions . Fig . 23 illustrates two shafts 25A, 25B connected through a transmission . The transmission may be comprised of gears , cables , chains and sprockets , pulleys and belts , etc . In a preferred embodiment, the shafts 25A, 25B are fitted with sprockets 184 , which are connected to one another with a roller chain 185 , thereby enabling the spring 36 to be on one shaft 25A and the wind motor 38 to be on another shaft 25B . This allows the system to be more compact, as the dual shafts 25A, 25B may be a fraction of the length of a single shaft 25 . The dual shaft configuration also enables most of the active mechanical components - spring 36, wind motor 38 , bearings 189 , cam 53 , sprockets 184 , chain 185 , drive arm 169, ratchet wheel 161 , electronic motor (more generally a swivel actuator) 45 , etc . - to be in a single, relatively small enclosure 188 . The swivel actuator 45 has a rotational axis that is colinear with the vertical axis and is located primarily under the rotational connection. By utilizing sealed bearings 189 on the shafts or shaft extensions of the swivel 45 and impacting arm 25A shafts that protrude from the enclosure 188 and a waterproof gland ( not shown in the figure ) through the enclosure wall to seal the escapement actuation cable sleeve 56, the inside of the enclosure 188 may be made waterproof and seal the critical mechanical and electronic components from the elements , thereby allowing the ball retrieval system to be reliably used outdoors .

[0093]

[0090] The swiveling action of the automated basketball retrieval system requires an actuator to spin the return mechanism 30 about a vertical axis so that the ball may be thrown to players at any location on the court . Preferably, the selected court location may be programmatically set as an angle of rotation of the swivel actuator . For a return system located directly under the basketball goal 1 , about 200 degrees of rotation is required to allow returned balls toreach the left 201 and right 202 corners of the court near the baseline 200. In preferred embodiments , a swivel rotation range between 150 and 220 degrees is desirable . A bearing system 48 between a lower frame 13 , which is a portion of the connecting frame 10 , of the automated basketball retrieval system and the return mechanism 30 allows for a vertical axis swivel of the return mechanism 30. The actuator may either be a separate independent actuator from the wind motor 38 , the "swivel motor" 45 , or the wind motor 38 that is connected to both the arm / spring / throwing-shaf t 25 system and the swiveling shaft 49 system.

[0094]

[0091] In one embodiment, a swivel motor 45 , which is driven independently from the wind motor 38 , is configured with a vertical output shaft . The vertical output shaft may either be a direct drive from the motor or through a transmission, such as a gearbox or a belt or cable system. This vertical output shaft is then connected to a stationary shaft 49, preferably through a flexible coupling 47 . As torque is applied by the motor 45 , the entire throwing mechanism 30 , including both motors 38 , 45 , is swiveled through one or more swivel bearings 48 about the stationary shaft 49.

[0095]

[0092] In another embodiment, the bearings within the swivel motor 45 are utilized as the swivel bearings , eliminating the need for a second shaft , a flexible coupling or additional bearings . In this case , the output shaft of the swivel motor 45 would be directly connected to the return mechanism 30 to rotate it . Alternatively, the output shaft of the swivel motor 45 could be fixed and the motor 45 body would rotate with the return mechanism 30 .

[0096]

[0093] In another embodiment, the wind motor 38 is configured with a horizontal shaft 25 that utilizes a right-angle transmission to drive a first vertical shaft . The right-angle transmission could be a set of bevel gears , worm gears , belts , cables , etc . The first vertical shaft is then connected to the stationary frame of the system. If the connection to the stationary connecting frame 10 is in the form of a second vertical shaft (such as a stationary shaft ) , then when torque is applied to the stationary shaft , the entire motor system willswivel about that shaft and its attached frame . In order for the system to remain stationary when the same wind motor 38 is winding the spring, there needs to be a clutch between the first vertical shaft and the stationary shaft . When the clutch is engaged, the throwing mechanism will swivel and when the throwing mechanism is not engaged, the throwing mechanism will be stationary and allow for the winding of the spring . The advantage of utilizing the wind motor to also swivel the throwing mechanism is that there is a weight saving in eliminating a second swivel motor; however, this requires a more complex mechanical and control system to implement .

[0097]

[0094] The electronic controller 99 for the system, which includes a microcontroller 100 , also includes feedback on the angle of the return mechanism 30 about the swivel axis . This may either be done directly, with an absolute or incremental encoder on the stationary shaft 49 or indirectly with an encoder on the electronic swivel motor 45. If an incremental encoder is utilized, then an index location much be defined at a particular index angle so that the incremental encoder may be "indexed" to a known location . An indexlocating routine is typically run during a power up sequence, as the incremental encoders may not be in the same location as when the system was shut down . Index location is typically established by a mechanical , optical or other type of switch in a unique location about the swivel axis . Because the swivel axis may have limits ( rotation is restricted to less than 360 degrees ) , there are also typically end stop and limit sensors that will ensure the swivel motor does not drive the swivel axis to the end stops .

[0098]

[0095] In one embodiment, the output shaft of the swivel motor 45 is double ended, wherein the swivel motion is driven by the output portion ( output end) of the double ended shaft and an encoder 46 is attached to the opposite end ( encoder end) of the double-ended shaft . The swivel motor 45 may also include a gearbox to increase its output torque and reduce its speed . In a preferred embodiment, the control electronics system 98 , 99 is fabricated on a printed circuit board that includes the swivel motion encoder 46 and is mounteddirectly to the swivel motor 45 on the side that has the encoder end of the double-ended shaft .

[0099]

[0096] In addition to the aforementioned large and heavy mechanisms required for conventional commercial systems , they are designed to have relatively heavy, wide bases that stand on the playing surfaces in order to provide stable support for their dynamic and massive throwing mechanisms . In order to achieve the light weight and compact size obj ectives, the present invention utilizes a different method of providing a stable base for the mechanisms required to propel a ball - a rigid connection to the goal 1 and backboard 2. All commercial automated basketball retrieval systems utilize a large ball-capture net to capture the ball after most shots , whether they make or miss the goal . Although this requires the ballcapture net to abut the backboard 2 to stop a ball from falling outside the ball-capture net and passing between the backboard 2 and the net 3 , they do not actually connect to the backboard 2 so they may be easily wheeled up to it . Because of their heavy, wide-stance base, there is no need for them to stabilize themselves with a connection to the backboard . The current invention takes the opposite approach, where there is no contact with the playing surface 199 , but a direct connection to the backboard 2 for stabilization . Thus , the current invention does not rely on the playing surface 199 for support . In other words, none of the components of the basketball retrieval system, except for the basketball goal itself , contact a playing surface 199 or ground . This enables the current invention to be lower in weight and smaller in size (more compact ) than conventional systems, yet still provide a stable foundation for its ball-capture net 20 and dynamic mechanisms .

[0100]

[0097] Basketball goals and backboards come in many shapes and sizes , yet they have a number of geometric similarities .

[0101] Regulation hoops ( goals ) are 18 inches ( 46cm) in diameter with their outer edge spaced 6 inches ( 15 cm) off the backboard front surface . The terms goals, hoops , baskets , and rims are used interchangeably herein and are comprised of a circular rim and a rim extension thatattaches to a backboard . In addition, they are 10 feet ( 305cm) from the playing surface 199, albeit adjustable to lower heights for younger or shorter players . Goals 1 are typically centered on the backboard 2 proximate the backboard' s lower edge . Backboards are typically rectangular or fan-shaped, ranging in widths from 3 to 6 feet ( 91 to 182 cm) . Any system designed to secure itself to the backboard 2 must have the flexibility to interface with most size and shape variations of the backboard 2.

[0102]

[0098] Fig . 1 shows an embodiment of the present invention, which is comprised of a connecting frame 10 , a ball-capture net 20 and a swiveling ball return mechanism 30. In a preferred embodiment, the connecting frame 10 and ball-capture net 20 are rigidly attached to the basketball goal 1 and backboard 2 , while the swiveling ball return mechanism 30 rotates about a vertical axis to allow the ball to be returned to any court location about the goal . In the embodiment shown in Fig . 1 , the ball return mechanism 30 includes a ball queuing chute 33 that swivels with the return mechanism 30 and can hold one or more queued balls 5 waiting to be loaded into the takeoff position 6 in the throwing mechanism and returned . An alternative queuing chute 33 configuration is possible, where the queuing chute 33 is stationary and does not swivel with the return mechanism 30. The lowest queued ball is shown in the queued position 7 . There is a transition zone 11 , also referred to as the ball transfer system herein, between the bottom of the ball-capture net 20 (upper transition zone portion) , which is fixed in space, and the top of the ball queuing chute 33 ( lower transition zone portion) , which rotates with the return mechanism 30. A stationary queuing chute 33 would have the transition zone 11 at the bottom of the queuing chute 33. Balls must pass between the upper collection and lower return portions of the system. Thus , a ball-capture-net orifice 21 at the bottom of the ball-capture net 20 needs to allow balls to pass single file into the top of the ball queuing chute 33 , whose top opening is aligned with the ball-capture-net orifice 21 .

[0099] Fig . 2 shows a second embodiment of the present invention, which is comprised of a connecting frame 10 , a ball-capture net 20 and a swiveling ball return ramp 44 . In one embodiment, the connecting frame 10 and ball-capture net 20 are rigidly attached to the basketball goal 1 and backboard 2 , while the swiveling ball return ramp 44 rotates about a vertical axis to allow the ball to be returned to any court location about the goal 1 . In this embodiment , there is no queuing chute 33, as balls fall directly through the force of gravity from the ball-capture-net orifice 21 onto the return ramp 44 , whose proximal portion includes sufficiently wide and angled surfaces to reliably capture falling balls and send them down the lower, distal portion of the ramp 44 . An upper segment of the proximal portion of the ramp 44 , which encompasses the said sufficiently wide and angled surfaces , is positioned over the swivel motor 45 and its or its transmission' s output shaft 49 to guide balls onto the steeper distal portions of the ramp 44. Balls then accelerate down the ramp under the force of gravity. The ramp is angled downward and outward at its distal end, which imparts a component of horizontal velocity to the ball , allowing the ball to be returned to a user located on the court at some distance away from the automated retrieval system. A lower segment of the proximal portion of the ramp 44 is proximate to and attached to the rotating portion (the swivel motor 45 and its or its transmission' s output shaft 49 ) of the system (the same portion as the electronics enclosure 188 ) at the rotational connection 48 . Thus , the rotational connection 48 between the ramp 44 and the lower frame 13 lies between the upper and lower segments of the proximal portion of the ramp 44 (the upper segment resides over the rotational connection 48 , and the lower segment resides under the rotational connection 48 ) . It is also possible to attach the upper segment of the proximal portion of the ramp 44 to the rotating portion (the swivel motor 45 and its or its transmission' s output shaft 49 ) of the system; however, this does not allow as much space for the electronics enclosure 188 , as there is limited space between the upper and lower segments . Thus , in a preferred embodiment, the proximal portion of the ramp 44 is connected to a swivel actuator ( the swivel motor 45 and its or itstransmission' s output shaft 49 ) located primarily under the rotational connection 48 , and whose rotational axis is colinear with the vertical axis of the rotational connection . The system may optionally be fitted with a ball detection sensor 132 , which can sense when a ball has passed through the system, keep count of the number passed balls and update the swivel angle commensurate with the requirements of the defined drill or program. The advantage of the non-motorized return embodiment shown in Fig . 2 is that its return mechanism 30 is significantly simpler than motor-driven systems and therefore lighter in weight and less costly to produce . The disadvantage is that the traj ectory of the returned ball is towards the playing surface 199 and thus requires at least one bounce off the surface before reaching a user standing at some distance away. In contrast, the embodiment with a motorized return system shown in Fig . 1 is able to pass the ball to a user standing at some distance away without the need for any bounces off the playing surface 199, thereby more closely simulating a human-passed ball .

[0103]

[0100] The embodiment in Fig . 2 shows the swivel motor 45 attached to and enclosed in a waterproof electronics enclosure 188 . The output shaft 49 of the swivel motor 45 or its transmission is fixed to the stationary lower frame 13 ; thus , when activated, the swivel motor' s body and the electronics enclosure 188 rotate together . Fig . 2 also shows the ball ramp 44 attached to the electronics enclosure 188 , which is required for it to synchronously rotate; however, the proximal portion of the ramp 44 , where balls fall onto the ramp 44 from the ball transfer system, is above the swivel motor 45 or its transmission' s output shaft 49 and the swivel bearings 48 . Thus , the swivel bearings 48 and motor 45 or its transmission' s output shaft 49 are flanked above by the upper segment of the proximal portion of the ramp 44 and below by a lower segment of the proximal portion of the ramp 44 and the swivel motor body 45 and electronics enclosure 188 . This configuration enables the following : 1 ) it allows balls exiting the ball-capture-net orifice 21 to immediately enter the top of the ramp 44 , with the ramp 44 being aimed in the properdirection, 2 ) it maintains the front s ide of the electronics enclosure 188 , which may include an HMI (human machine interface ) 104 and HMI display interface 105 , in the same direction of the ramp 44 , which is where a user is li kely to reside on the court , 3 ) it allows for a greater height electronics enclosure 188 without raising the ramp 44 height , as there is free space below the bearings 48 but height constraint above , where the upper segment of the ramp 44 is located, 4 ) it keeps all the electronics for the system 98 together , in a single , environmentally sealable enclosure 188 , 5 ) it serves as an ideal location for a ball sensor 132 , since the enclosure 188 front follows the ramp 44 angle and 5 ) it enables the optional attachment of a relatively large , high-vis ibility secondary display 32 to the electronics enclosure 188 , so it too may constantly face toward the user .

[0104]

[0101] In an even simpler embodiment of the current invention, no motors or electronics are used . In this case , the ramp 44 shown in Fig . 2 would be manually set to a desired swivel angle and remain there until the user sets the ramp to a different angle . This type of system still has s ignificant utility when practicing shooting from a s ingle court location .

[0105]

[0102] Because the ball-capture net 20 and upper frame 12 , which is a portion of the connecting frame 10 , of the two embodiments (motorized and non-motorized return mechanisms 30 ) are identical , it is feasible to have an interchangeable lower frame 13 that has different return mechanisms . This allows a user to initially use the simpler second embodiment in Fig . 2 with the ramp 44 , then upgrade to the first embodiment in Fig . 1 incorporating a motorized return system 30 , which can pass balls back to the user with a higher velocity .

[0106]

[0103] The upper edges of the ball-capture nets for conventional bas ketball retrieval systems comprise three s ides of a rectangle or trape zoid that are typically about nine feet ( 2 . 7 meters ) in width , extending past the s ides of the backboard, and about five feet ( 1 . 5 meters ) in depth , extending well in front of the backboard . The upper edge of the net is generally about 2 feet ( 0 . 6 meters ) abovethe level of the goal, although may be adj ustable to different heights . Because they are generally supported by four rigid extending arms , most ball-capture nets form a three-sided inverted rectangular or trapezoidal pyramid about the goal, which means the top front edge at its center may be as little as 4.5 feet ( 1. 3 meters ) from the goal centerline ; whereas, the side portions of the net may be up to 6.7 feet ( 2 meters ) from the goal centerline at the upper corners of the net . The top of the ball-capture net presents an obstacle to the shooter, who must sufficiently arc their shot to get over the top edge . Ideally, the distance between any point of the net top edge to the goal centerline would be the same in order to present a uniform target for a ball traj ectory to the shooter no matter where the shooter is located on the court .

[0107]

[0104] The current invention utilizes a unique design to fix a connecting frame 10 and a ball-capture net 20 in space in order to better stabilize the automated basketball retrieval system. By securing the connecting frame 10 and ball-capture net 20 to the backboard 2 and the goal 1 , a relatively rigid system is achievable without relying on the playing surface 199 to help stabilize the system. Eliminating the requirement for a playing surface 199 interface, enables a more compact (shorter ) , stiffer and lighterweight system. Compared to the 12-foot ( 3. 6 meters ) distance between the playing surface and the top of the ball-capture net 20 for a conventional automated basketball retrieval system, the current invention connects the connecting frame 10 and net 20 directly to the backboard, which typically has a rigid connection to the ground, wall or ceiling, making for a more rigid system. The connecting frame 10 comprises a top portion 12 and a lower 13 portion . The top portion 12 rests on the top of the rear part of the goal ring 1 or the rim extension 4 between the goal ring 1 and the backboard 2 . The lower portion 13 of the connecting frame 10 supports the swiveling and ball return mechanisms 30. The upper portion 12 of the connecting frame 10 also includes two acute-angled ( relative to the horizontal ) , lateral support arms 15 that extend from a central area of the upper portion12 of the connecting frame 10 up and across the left and right sections of the backboard 2 front face to support the ends of the top edge of the ball-capture net 20. Because the lateral support arms 15 pass over the side edges of the backboard 2 , they may be utilized to connect the connecting frame 10 directly to the left and right backboard 2 edges near their crossing points 14 , 83 , thereby allowing the system to span a long lateral distance between multiple connecting frame 10 and backboard 2 connection points 14 , 83 , as compared to smaller span connection points in proximity of the goal 1 for some prior art systems . Constraint elements are reguired to fix the connecting frame 10 to the backboard . In the present invention, the constraint elements pass behind the sides of the backboard and geometrically constrain the ball retrieval system from forward and sideward motions relative to the backboard .

[0108]

[0105] In one embodiment for securing the system to a backboard 2 shown in Fig . 5 , a plurality of securing straps is utilized as the constraint elements . Along the lateral support arms 15 are anchor points that serve as the attachment points for a pair of securing straps 18 that wrap around the back side of the backboard .

[0109]

[0106] Alternatively, the system may be secured to the backboard 2 using constraint elements such as a plurality of rigid backboard hooks 84 , 85 that are mounted to the lateral support arms 15 , Fig . 6A. In this embodiment, the rear portion of the hooks , 84 , 85 , are configured to pull forward against the rear side of the backboard 2 , proximal the backboard' s 2 side edges . Any type of structure, even if not in the form of a hook, that may be utilized as a constraint element to pull forward against the rear side of the backboard 2 , are considered herein to be backboard hooks 84 , 85 . The location of the backboard hooks 84 , 85 is in a vertical position above the plane of the circular rim / goal 1 in order to provide a lever arm to counter forward and rearward motion of the connection frame 10. The backboard hook mounts 86 have a locking or clamping mechanism that allows for the sliding of the mounts 86 along the two lateral support arms 15 so that they may be positioned and secured at a spot 83 on thelateral support arms 15 where they cross the edges of the backboard 2 and thereby be adj ustable for a plurality of backboard 2 widths . In one embodiment that enables the rear portion of the backboard hooks 84 , 85 to pass behind the backboard 2 , one or two extension springs 87 are attached between the lower portion of the lateral support arms 15 and the upper frame 12 . In this case, the lateral support arms 15 are hinged to the upper frame 12 near their lower proximal end . When the system is properly positioned, the extensions springs 87 keep the lateral support arms 15 at their upper-most angle against a stop; however, the lateral support arms 15 are able to be pivoted downward against the forces of the springs 87 during installation of the system to the backboard 2 . At least one latch 93 may also be optionally included to keep the lateral support arm 15 in a locked unpivoted position . Latch release 95 mechanisms that are operated by a user standing on the playing surface 199, may be used to release the latch 93 into an unlatched configuration 94 , thereby allowing the lateral support arm to pivot . Fig 6B illustrates one method of how the connecting frame 10 may be connected to the backboard using the backboard hooks 84 , 85 by a user standing on the playing surface 199 without the need for a ladder . If the user holds the connecting frame 10 and tilts the connecting frame 10 clockwise , for example, the right lateral support arm 15 moves right and down as illustrated in Fig . 6B, positioning the right backboard hook 85 past the right edge of the backboard 2 , so the back end of the hook 85 may then be positioned behind the backboard 2 when the hook 85 is tilted back to its nominal orientation. During the tilting operation, the left backboard hook 84 articulates against the left backboard 2 side, thereby stretching the left extension spring 87 so that the right backboard hook 85 is extended off the right side of the backboard 2 .

[0110]

[0107] Fig . 6C shows yet another embodiment of how the plurality of rigid backboard hooks 84 , 85 may be utilized as the constraint elements for securing the upper frame 12 to the backboard 2 . In this embodiment, one or both lateral support arms 15 are mounted to a pivoting element 97 , which pivots on the upper frame 12 . A cable96 that is controlled by the user on the playing surface 199, may then be used to change the attitude of the pivoting element 97 , thereby lowering or raising one or both of the lateral support arms 15 .

[0111]

[0108] In still another embodiment of how the plurality of rigid backboard hooks 84 , 85 may be utilized as the constraint elements for securing the upper frame 12 to the backboard 2 , both lateral support arms 15 are mounted rigidly or temporarily fixed to the upper frame 12 . In this embodiment the backboard hooks 84 , 85 have a sufficient "throat" distance to the sides of the backboard 2 to allow lateral movement of the system across the backboard 2 when the backboard hooks 84 , 85 are engaged around the sides . To attach the system, a user first engages the first ( say left ) backboard hook 84 , then tilts the connecting frame 10 clockwise, thereby positioning the right backboard hook 85 past the right edge of the backboard 2 , so the back end of the hook 85 may then be positioned behind the backboard 2. During the tilting operation, the left backboard hook 84 maintains its location at the rear of the backboard 2 . The connecting frame 10 may then be manipulated so the right backboard hook 85 moves back and articulates on the back side of the right edge of the backboard 2. When the connecting frame 10 is then centered and dropped onto the rim 1 , the entire system is stabilized, not allowing the connecting frame 10 to tilt forwards or backwards (because of the hooks 84 , 85 ) , nor left nor right because of the close fitting of the Goal Shelf 8 behind the rim 1 .

[0112]

[0109] In any of the aforementioned embodiments of how the plurality of rigid backboard hooks 84 , 85 may be utilized as the constraint elements for securing the upper frame 12 to the backboard 2 , an elastomeric material may be added to the rear portion of the backboard hooks 84 , 85 as well as the back faces of the backboard hook mounts 86 in order to increase the friction and therefore stability between the system and the backboard 2 and to avoid marring of the backboard 2 surfaces .

[0113]

[0110] Fig . 7 shows one embodiment of a right backboard hook system 85 , 86 and how it may accommodate different backboard 2thicknesses and widths . The right-side backboard hook 85 and hook mount 86 are shown with a portion of the backboard 2 shown in phantom lines . In this embodiment, the backboard hook mount 86 is constructed from a piece of sheet metal, or other formable material, which is open on the top, left and bottom sides and bent in a U-shape on the right side . A hole 89 through the U-shaped bend on the right side accommodates the passing of the right lateral support arm 15 through the backboard hook mount 86. The left side of the right backboard hook mount 86 has two threaded knobs 88 , which straddle the lateral support arm 15 and help maintain the vertical locating of the hook mount 86 relative to the lateral support arm 15 . When the hook 85 is properly positioned, the threaded knobs 88 are tightened, so that they clamp the front and back sides of the backboard hook mount 86, squeezing against the lateral support arm 15 to lock the mount 86 into position along the arm 15 proximate the right edge 83 of the backboard 2 . The right backboard hook 85 includes two shafts that pass through holes on the right side of the backboard hook mount 86. This enables the backboard hook 85 to be adjusted to accommodate different thicknesses of backboards 2 by sliding the shafts of the hook 85 through the holes and locking them in place with two threaded knobs 82 extending through the U-shaped bend on the right side, above and below the hole 89. When tightened, the two threaded knobs 82 exert lateral pressure on the hook shafts at their intersection point 92 so the hook 85 is locked in place . The left-side backboard hook 84 and hook mount 86 are configured in a similar manner to the right side .

[0114]

[0111] An appropriate positioning of the backboard hooks 84 , 85 allow either a small clamping pressure against the backboard 2 , or the leaving of a small gap between the backboard 2 and the hooks 84 , 85 so that the system may be installed and removed more easily .

[0115]

[0112] Although several examples of how backboard hooks 84 , 85 may be positioned to secure the backboard 2 are described herein, one skilled in the art may find additional ways to accomplish said securing using other pivoting actions , linear actions , out-of-planeactions, magnetic forces , etc . , all of which are included in the current invention .

[0116]

[0113] The angles formed by the lateral support arms 15 are sufficiently acute so that they only articulate on the lower regions of the backboard 2 front face and do not interfere with a shot ball that might bank off the backboard 2 before the ball enters the goal 1. Since only field goals are anticipated when an automated basketball retrieval system is utilized, any ball that might hit the backboard 2 would be in a downward trajectory and bounce off the backboard 2 perhaps a foot ( 30 cm) above the plane of the goal 1 , thereby missing any chance of interference with the lateral support arms 15 . Shots from a short distance from the goal 1 , such as layup shots , where balls may be on an upward traj ectory and could hit the arms 15 are not feasible with any type of ball retrieval system, since the large size of the ball-capture net 20 would block such short-distance shots from reaching the backboard 2 .

[0117]

[0114] In a preferred embodiment, the upper portion 12 of the connecting frame 10 is wider than the outer width of the goal rim 1 , allowing the upper end of the upper portion 12 of the connecting frame 10 to be assembled around the goal 1 and rest on the rear portion of the goal ring 1 or the rim extension 4 between the goal 1 and backboard 2. The lower portion 13 of the connecting frame 10 may be of the same width, narrower or wider than the upper portion 12 of the connecting frame 10.

[0118]

[0115] Figs . 8A and 8B illustrate how the upper frame 12 may be located vertically on top of the goal 1 , using a goal shelf 8 with a circular arc 8A that conforms to the center circle of the goal' s 1 toroidal shape and rests atop of the goal ring 1. The goal shelves 8 may also have a vertical portion 8B that seats against the outer periphery of the goal 1 to help properly locate the extended, horizontal , arc-shaped edges of the shelves 8A on the goal' s 1 top surface . Thus , each goal shelf 8 articulates with both the top and rear surfaces of the circular rim. When so configured, the upper frame 12 resting area has a relatively wide span across the goal 1 ascompared to a system that rests only on the rim extension 4 . When thin material is used for the goal shelves 8 , balls that bounce off the rim are minimally affected by the small additional goal height . Because they do not extend past the upper most points of the goal 1 , the goal shelves 8 will not in any manner affect balls that touch the rim 1 along its downward-shaped inner surface, which is the region most frequently interactive with balls that eventually pass through the goal 1 . Thus , when the horizontal extensions 8A of the goal shelves 8 rest upon the top of the goal 1 , they provide the constraint for vertically suspending the upper frame 12 as well as the lateral twisting constraint of the upper frame 12 . Although it does not provide as much lateral twisting constraint without the use of horizontal extensions 8A of the goal shelves 8 , the rim extension 4 may also be used for vertical suspension of the upper frame 12 . The goal shelves 8 may be held in position by at least one padded foot , rod, the back surface of the upper frame 12 , or other member 9 , all referred to as foot or feet herein, that articulate with and push the upper frame 12 away from the front of the backboard 2 in order to keep the goal shelves 8 properly positioned against the goal ring 1 . The combination of the feet 9 and the vertical portions 8B of the goal shelves 8 constrain the upper frame 12 forward and aft in the vicinity of the horizontal plane of the goal 1. The two vertical portions 8B of the goal shelves 8 articulate against the goal ring 1 at points that are approximately symmetrically positioned about a central plane, the vertical plane that is perpendicular to the backboard 2 and passes through the goal 1 center . The vertical portions 8B of the goal shelves 8 are also laterally located between 2 and 9 inches ( 5 and 23 cm) from the central plane . This positioning provides lateral constraints for the upper frame 12 that keep it laterally centered relative to the goal 1 .

[0119]

[0116] The combination of constraints provided by the various aforementioned components :

[0120] 1 ) the top extended surface 8A of the goal shelves 8 or the upper frame 12 on the rim extension 4 , 2 ) the vertical portions 8B of thegoal shelves 8 , 3 ) the feet 9, and 4 ) the backboard hooks 84 , 85 ; as well as gravity, provide the necessary constraints to rigidly fix the entire system in all degrees of freedom.

[0121] In a previously described preferred embodiment , with a springwound impacting arm 35 and a vertical axis swivel bearing 48 , the overall mechanism may be more compact if the plane of the swinging impacting arm 35 is offset from the vertical axis of the swivel bearings 48 (the rotational connection) , as illustrated in Fig . 9. The return mechanism' s 30 rotational connection ( swivel bearings 48 ) to the connecting frame 10 has a vertical rotational axis . More generally, the actuator arm moves in a vertical plane offset from the vertical rotational axis to provide room for the rotational-axis-aligned swivel bearing 48 and mechanism. Thus , the combination of the say 300-degree horizontal-axis rotation of the impacting arm 35 and the 200-degree vertical-axis rotation of the swiveling mechanism sweeps the ball return mechanism 30 through a relatively large volume in space . To facilitate the swiveling of the ball return mechanism 30 , the lower portion 13 of the connecting frame 10 preferably connects to the swivel bearing 48 to one side or the other via a lateral member 13A, but not centrally . In other words , the sole connection between the stationary connecting frame 10 and the swiveling return mechanism 30 ( the rotational connection) is from the side (offset from the rotational axis of the rotational connection) via an offset lateral member 13A connection . Such offset lateral member 13A connection is preferably between 45 and 135 degrees to the left or right of the swivel bearing 48 (rotational axis ) , as measured from a backboard perpendicular . This non-central, side connection facilitates the return of the ball along the court baseline 7 using a left corner 201 path 41a, a right corner 202 path 41b as well as the central court 203 path 41c as illustrated in Fig . 9.

[0122]

[0117] To make the connecting frame 10 more compact when the connecting frame 10 is not in use, the two lateral support arms 15 may be hinged at their proximal ends 22 , so that they fold down along the length of the rest of the connecting frame 10. They may also bedesigned with a telescoping feature 15D, 15E to further collapse them to a small size .

[0123]

[0118] Fig . 4 shows the ball-capture net 20 of the present invention, which is designed to be a simple, quickly erected, lightweight, and collapsable system to collect balls shot at a basketball goal 1. The ball-capture net 20 is comprised of a collapsible net frame 66, 67 , 68 , comprised of lightweight , flexible poles , and a flexible, funnel-shaped string net 65 attached to the net frame 66 , 67 , 68 . The term lightweight , as used herein, means the sum weight of the poles 66 , 67 , 68 is sufficiently low when combined with the weight of the string net and frame so that a single person is able to carry, lift and assembly the ball retrieval system to a goal 1. In particular, the sum weight of the poles 66 , 67 , 68 should be less than 4 .5 pounds ( 2 kilograms ) to be considered lightweight . The term flexible , as used herein, means the poles 66, 67 , 68 may be elastically bent from a straight shape to a curved shape without cracking or breaking, enabling the poles 66, 67 , 68 to form the curved shapes required for the ball-capture net 20 as described herein . The flexible poles may be constructed from a variety of materials including various metals , fiberglass , carbon fiber, fiber composite, plastics , resins , etc . The strings of the string net 65 may be made of a wide variety of natural, polymer or metal materials such as cotton, polyethylene , Dyneema, steel cable , etc .

[0124]

[0119] The collapsable net frame 66, 67 , 68 is comprised of a plurality of flexible poles : one horizontal top pole 67 positioned along the top edge of the net and bent into a circular or oval shape, and two, four or any number of support poles 68 , each being straight or bent within an approximately vertical plane . Both the horizontal top pole 67 and the vertical poles 68 may be constructed from several sections to allow for a more compact folded system. The optimal formed shape for the horizontal top pole 67 is a circular maj or arc approximately centered above the center of the circular goal 1 , which makes the points along its periphery approximately equidistant from the goal 1 center; however, non-optimal shapes such as offsetsemicircles, minor arcs, or oval arcs may be used as they would also be functional for ball collection, albeit present a varying distance around their periphery from the goal 1 center . The said approximate centering is preferably within 18 inches ( 46 cm) horizontally. The ends of the horizontal top pole 67 are secured proximate the ends of the lateral support arms 15 , which have receptacles 70 incorporated into them, such as rigidly fixed tubes , that can maintain the ends of the horizontal top pole 67 at an orientation to help the horizontal top pole 67 maintain a curved shape . The multiple support poles 68 extend proximally from a lower point on the connecting frame 12 or ball-capture-net orifice 21 upward towards the horizontal top pole 67. The distal ends of the support poles 68 terminate at points or tees 66 along the horizontal top pole 67 , thereby helping to maintain horizontal top pole 67 in an approximately horizontal plane . Each tee 66 increases the rigidity of the net frame , as the net frame accepts two segments of the horizontal top pole 67 and the distal end of a support pole 68 and rigidly maintains the position and orientation of the poles relative to one another . A string net 65 is attached to the horizontal top pole 67 at a plurality of points 17 . The string net 65 may also be optionally connected to additional locations on the support poles 68 , lateral support arms 15 , connecting frame 10 , etc . A plurality of net stabilizing cables 69 extend from points on or near the horizontal top pole 67 and / or tees 66 towards points on the connecting frame 10 proximate the backboard 2 . In a preferred embodiment , the distal ends of the stabilizing cables 69 attach proximate to or to the tees 66 that connect the horizontal top pole 67 to the support poles 68 and the proximal ends attach to the connecting frame 10. The net stabilizing cables 69 may be constructed from strings, ropes , solid rods , or steel cables of any variety and of varying stiffness . In a preferred embodiment, one or both ends of the net stabilizing cables 69 comprise hooks 64 so they may be easily attached or detached during assembly and disassembly. The proximal anchor points of the stabilizing cables 69 that attach to the connecting frame 10 are positioned sufficiently above the lower surfaces of the string net 65 so as not to trap a ball that is rollingacross the lower portion of the string net 65 . The cables 69 are furthermore configured in a downward slope towards the connecting frame 10 and backboard 2 to avoid interference with a shot ball heading towards the goal 1 .

[0125]

[0120] Because the ball-capture net 20 experiences collisions with moving balls that are either shot by a user or rebounding off the rim 1 or backboard 2 , the net 20 may experience collision forces from a number of different directions . These disturbances can initiate dynamic motions within the system. Since the present invention utilized flexible poles 67 , 68 to form the shape of the ball-capture net 20 , the ball-capture net 20 may be subject to vibrations such as the one illustrated in Fig . 10 . The mode shape of this vibration bends the horizontal top pole form a circular shape to an oval that first bulges left then right , as shown by the phantom lines . Since the support poles 68 may also be flexible, they may not provide significant stiffness to counter this vibration mode . The addition of two net stabilizing cables 69 spanning from the proximity of the tees 66 to the connecting frame 10 significantly stiffens the ball-capture net 20 by forming substructures within the horizontal top pole 67 that are more triangular in shape . This quickly damps out the vibration mode shown in Fig 10 , as well as other vibration modes .

[0126]

[0121] The horizontal top pole 67 may be optionally comprised of a plurality of pieces 67A through 67L . Twelve pieces 67A-67L are shown in Fig . 11 , but any number of pieces are possible . In a preferred embodiment, 6 approximately equal-size pieces comprise the horizontal top pole 67 . Similarly, each of the support poles 68 may be optionally comprised of a plurality of pieces 68A through 68L . In a preferred embodiment, 2 approximately equal-size pieces comprise each support poles 68 . In one embodiment, the horizontal pole 67 pieces and support pole 68 pieces are also approximately equal in size to one another . Although four support poles are shown in Fig . 11 , a preferred embodiment has only two support poles 68 extending from the horizontal top pole 67 , with no support poles at the ends of the horizontal top pole 67 , as they are not required due to the support of the lateralsupport arms 15 at the horizontal top pole 67 ends . Three pieces for each support pole are shown in Fig . 11 , but any number of pieces is possible . In order to simplify the assembly of the horizontal top pole pieces 67A-67L and support pole pieces 68A-68L into the entire net frame, it is convenient to construct them from hollow tubes connected through one or more elastic bungee cords 60. The ends of the bungee cords 60 may be terminated using stand-alone knots 61 or knots 62 connected to solid obj ects such as rigid termination rods 63 , as shown in Fig . 13A. Any number of termination methods other than knots 61 , 62 in the bungee cords 60 may be utilized, such as crimped metal or plastic pieces , glue, beads, etc . Termination rods 63 may be constructed of any rigid or semi-rigid material that are sized such that they will not allow the bungee cords 60 to pass through the hollow centers of the poles 67 , 68 or through the legs of the tees 66, receptacles 70 or eyelets 71. The termination rods 63 may furthermore have one or more lateral holes or eyelets through which the bungee cords 60 may pass and be knotted 62 crimped or otherwise secured . The ends of the individual pole pieces 67A-67L, 68A-68L are preferably comprised of interfaces or ferrules 60A that allow the pole pieces to rigidly couple to adj acent pieces . Such interfaces may be a plug-in-socket , a hollow tube, or any other type of connection device . In one embodiment , a toggle-type termination rod 63 , such as those illustrated in Fig . 13A, at the end 62 of the bungee cords 60 may be used to more stability anchor the ends of the pole pieces 67A-67L, 68A-68L to points on the connecting frame 10 or lateral support arms 15 by passing the toggle-type termination rods 63 in their narrow configuration through tubes 70 , receptacles , holes or eyelets 71 then allowing them to pivot to their wider configuration to anchor the ends of the poles 67A-67L, 68A-68L via the internal bungees 60. Although different types of hooks may also be used as termination rods 63 , the toggle types have the advantage of having a low-profile configuration that may pass through a narrow tube, then be rotated to a wide-profile configuration that will not pass through the same narrow tube . The ends of the poles 67A-67L, 68A-68L may also incorporate end ferrules60B to accommodate coupling to the lateral support arms 15 and connecting frame 10.

[0127]

[0122] At the interface between some of the horizontal top pole segments 67A-67L and the support poles 68 are rigid tees 66, which can maintain the proper angle between the poles and allow for a stiffer net frame 66, 67 , 68 configuration, as compared to pole intersections that are not stiffly constrained . Fig . 12 illustrates a preferred embodiment of a rigid tee 66 that incorporates features that allow the direct termination 61 of the bungee 60 emanating from the support pole 68 within the tee 66, without the need for a termination rod 63 . In addition to rigidly locating the horizontal top pole segments 67 to the support pole 68 , the tee may also have features such as holes to allow for quick and easy connection of the stabilizing cables 69 via hooks 64 or other attachment devices . Due to its complex three-dimensional geometry, the tees 66 may be molded or 3D printed from plastic, metal or other suitable material . Since the horizontal top pole 67 is bent into a circular shape, the connection of the horizontal-top-pole segments 67 undergoes bending moments and needs to securely hold the segments 67 relative to one another . An additional reinforcement tube 73 may be incorporated into the tee 66 to ensure the tee 66 can manage the stresses imposed by the moments from the horizontal-top-pole segments 67 . The reinforcement tube 73 may be constructed from metal, ceramic, composite, high-strength plastic or other suitable material and may be glued, screwed or otherwise secured to the main body of the tee 66. The tee 66 may also incorporate stiffeners 75 between the three legs of the tee 66. The stiffeners 75 se may be in the form of a web, strut or other structure between the legs of the tee 66. The stiffeners 75 can strengthen the tee 66 so the tee 66 is less prone to deformation or breakage .

[0128]

[0123] In an alternative embodiment for the tee 66, the bungee 60 emanating from the support pole 68 does not directly connect to the tee 66, but is terminated 61 at the support pole 68 end within the tee 66. The support pole itself may then be fixed to the tee 66 by glue , a fastener, or simple insertion .

[0124] By utilizing hollow horizontal top pole pieces 67A-67L and hollow support pole pieces 68A-68L all connected with bungee cords 60 , the entire pole frame may be folded into a compact volume as shown in Fig . 13B . When expanded on a large, flat surface, the pieces 67A-67L, 68A-68L self-assemble into a complete frame without significant user intervention . In addition to creating a highly compactable ballcapture net 20 , the bungeed pole pieces make the ball-capture net 20 a lot simpler and faster for a single user to construct .

[0129]

[0125] In one embodiment, the tees 66 may incorporate features that help to stabilize the net frame 67 , 68 in its folded configuration as shown in Figs . 16B and 16C . Fig . 14A shows how the end pole of one of the support poles 68 may be inserted into a receptacle or hole 66A in the tee 66. This may be a separate hole or same hole that is used by the hook 64 that is part of the stabilizing cable 69 , since in the folded configuration, the stabilizing cables 69 are not fitted . In another embodiment shown in Fig . 14B, a slotted cylinder 66B may be incorporated into the tee 66. This may be used to attach the tee 66 to an end horizontal top pole 67 of the net frame and help to maintain a position adjacent to the end of a folded lateral support arm 15 . Utilizing both features 66A, 66B allows a folded configuration of the system, as shown in Figs . 16B and 16C, to be more compact and confine the net frame poles 67 , 68 to within the bounds of the rest of the folded system.

[0130]

[0126] The string net 65 portion of the ball-capture net 20 is attached at various locations 17 across its periphery to the ballcapture net poles 67 , 68 . Such connections may be realized using hook and loop (Velcro ) straps , S-shaped clips or other types of tying, elastically expanding or connecting devices referred to herein as connecting straps 17 . The lower end of the string net 65 portion of the ball-capture net 20 is likewise connected, using lower connecting straps 16, to a portion of the upper connecting frame 12 or to the ball-capture-net orifice 21. This connection assures that collected balls may freely pass across any gap at the bottom of the net 20 under the effect of gravity down into a swiveling return mechanism 30. Thelower connecting straps 16 may be secured to the ball-capture-net orifice 21 by wrapped around a plurality of U-shaped anchors 72 so that the straps 16 adhere to themselves . The lower connecting straps 16 are preferably of sufficient length so that the distance between the bottom of the string net 65 and the ball-capture-net orifice 21 may be adj usted with a varying net 20 height . Any type of cord, strap or fabric that can cover the gap formed between the ball-capture-net orifice 21 and the lower portion of the string net 65 including elastic cords , elastic or non-elastic fabric, tied strings , retractable shades , connection tube made from a suitable flexible or rigid material , etc . These , too, are referred to as connecting straps 16 .

[0131]

[0127] In one embodiment, the ball-capture net 20 may be adjusted to different heights above the goal 1 so that the top of the net 20 presents different heights to users . For example, for missed very long shots that take a high bounce off the rim of the goal 1 , a higher ball-capture net 20 reduces the chance of the ball escaping over the ball-capture net horizontal top pole 67 . On the other hand, for a shorter user who is shooting at a closer range, it may be desirable to have a lower ball-capture net 20 , which presents less interference to the user' s shot arc . In order to alter the height of the ball-capture net 20 while maintaining the upper frame' s 12 interface to the top surface of the goal 1 or the rim extension 4 , a number of components of the ball-capture net 20 must be adjusted .

[0132]

[0128] In one embodiment for an adjustable-height ballcapture net 20 , the angle of the lateral support arms 15 may be configurable , thereby raising or lowering the ball-capture net horizontal top pole receptacles 70 at the distal end of the lateral support arms 15. In addition to changing the angle of the lateral support arms 15 , several other features need to be adj usted in order to maintain the ball-capture net 20 shape :

[0133]

[0129] - the lengths of the lateral support arms 15 need to be increased or decreased to maintain the distance between the two horizontal-pole receptacles 70 ;

[0130] - the location of the securing strap 18 attachment points 14 or the backboard hook mounts 86 along the lateral support arms 15 need to be adj usted so that they are positioned at the backboard 2 edges ;

[0134]

[0131] - the connecting frame 10 attachment points for the net stabilizing cables 69 need to be raised or lowered commensurate with the change in ball-capture net height . Alternatively, the stabilizing cables 69 may have a single connecting-frame 10 attachment point, but have different cable lengths for the various capture net 20 heights;

[0135]

[0132] - the support poles 68 need to be extended to different lengths to maintain the top horizontal top pole 67 at the proper height . This may be accomplished using short pole segments 68M, 68N that may be fitted on the end of the support poles 68 ;

[0136]

[0133] - the connection between the lower edge of the ballcapture net 20 and the rigid ball-capture-net orifice 21 needs to be extended or compressed so that balls smoothly transfer out of the ball-capture net 20 to the return mechanism 30 .

[0137]

[0134] In summary, the height of the ball-capture net 20 above the basketball goal 1 may be raised by changing the orientation and length of the lateral support arms 15 , connecting the proximal ends of the net stabilizing cables 69 to a higher point on the connecting frame 10 (or have multiple lengths to a single point ) , adding length to the support poles 68 and increasing the length of the connecting straps 16 between the string net 65 and the ball-capture-net orifice 21 . It should be noted that when the angle of a lateral support arm 15 is changed, the angle of the receptacles 70 for the horizontal top poles 67 of the net frame also change; however, their angle change is relatively small and does not significantly affect the shape of the circular maj or arc formed by the horizontal top poles 67. For example, if the nominal height of the top edge of the ball-capture net 20 is 24 inches ( 61 cm) above the goal 1 , then raising or lowering the lateral support arms 15 to increase or decrease the net height by6 inches ( 15 cm) changes the receptacle 70 vertical angle by only 2 degrees in either direction .

[0138]

[0135] Instead of altering the angles of the lateral support arms 15 , the proximal attachment points of the lateral support arms 15 may be raised . This has the advantage of maintaining the horizontal distance between ball-capture net horizontal top pole receptacles 70 , so that no lateral support arm 15 extensions need to be implemented, nor any adjustments to the location of the securing strap 18 attachment points 14 or the backboard hook mounts 86 need be made, but because lateral support arms 15 would move to a higher location on the blackboard adj acent to the goal 1 , it has the disadvantage of increasing the possibility that the lateral support arms 15 can interfere with shot balls that bounce off the backboard 2.

[0139]

[0136] In a preferred embodiment shown in Fig . 8A for adjusting the height of the ball-capture net 20 , the lateral support arms 15 are configured as dual telescoping tubes 15E, with the outer tubes 15D connected to a bracket 24 on the upper frame 12 through a pivot screw, pin, etc . 22 on their proximal ends . Each outer tube 15D has an internal spring button 23A that passes through a hole on its side into a hole in the bracket 24 . Each inner telescoping tube has a proximal internal spring button that passes through a hole on its side and may engage with a plurality of holes in the side of the outer tube , thereby allowing a change in overall length of each lateral support arm 15 . The button 23A through the side of each outer tube is able to engage into a plurality of different holes in a bracket 24 on the upper frame 12 that lie on an arc centered on the arm' s pivot 22 . The lower-most bracket 24 holes position the lateral support arms 15 so the ball-capture net 20 is at its lowest height and the upper-most holes position the lateral support arms 25 so the ball-capture net 20 is at its highest height . The aforementioned plurality of holes in the outer arm 15D are spaced such that they maintain a consistent horizontal spacing between the pole receptacles 70 when the spring buttons 23A are located in corresponding holes along the arc in the bracket 24 mounted to the upper frame 12 .

[0137] Fig . 15A shows an embodiment of the adjustable height system for three different heights of the ball-capture net 20. The lowest height is achieved by moving the lateral support arms 15A to their lowest angle . This requires that the lateral support arms 15A be at their shortest length, the net stabilizing cables 69A are also attached at the lowest connection point on the connecting frame 10 and the cables . The lower connecting straps 16 would need to be at a relatively short length to maintain a smooth transition for the ball from the ball-capture net 20 to the ball-capture-net orifice 21.

[0140] Changing the height of the net 20 to the middle setting requires changing the angle and length of the lateral support arms 15B to their middle settings and connecting the net stabilizing cables 69B to a middle connecting frame 10 location . This middle location would require the release of the lower connecting straps 16 and a re-setting of them for a longer length . The length of the support poles 68 would need to be increased by adding the extensions 68M to their end .

[0141] Likewise , the highest setting requires adj ustment of the arms 15C and cable connection points 69C and longer lower connecting straps 16 and additional support pole extensions 68M, 68N . Although not shown in A, a system fitted with backboards hook mounts 86 or straps 18 would also require adjustment in their location along the lateral support arms 15 .

[0142]

[0138] As an alternative to a single length stabilization cable 69 and multiple anchoring locations on the connecting frame 10 , different lengths of stabilization cables 69, may be used with a single set of anchoring points .

[0143]

[0139] In order to help users configure the system for a wide variety of backboard 2 widths and ball-capture net 20 heights , a user-readable guide , as shown in Fig . 15B may be utilized . Different ballcapture net 20 heights have both different lateral support arm 15 angles and lengths . Likewise, the positioning of backboard hooks 84 , 85 , require different locations along the lateral support arms 15 based on both the backboard 2 width and the ball-capture net 20 height (angle of the lateral support arms 15 ) . A set of indices encoding thecombination of ball-capture net 20 heights and backboard 2 widths that may be utilized by users to locate the backboard hooks 84 , 85 may be imprinted 15 F on the lateral support arms 15 . In the example of Fig .

[0144] 15B, there are three different net heights ( labeled 1 , 2 and 3 ) and three different backboard widths ( labeled 54", 60" and 72" ) shown in different combinations ( only a portion of the combinations are shown) . The user would therefore position the backboard hook mount 86 at the appropriate index . In the example shown in Fig 15B, the user has a 60 inch backboard and has selected ball-capture net 20 height 1. Certain indices may indicate from which hole the spring button 23B should extend for a chosen ball-capture net 20 height . In Fig . 15B, the upward-facing arrow 15G with the index "1" indicates the location where the spring button 23B should extend for ball— capture net 20 height 1 ( the lowest height ) . With similar sets of printed indices 15 F, the user may set up a system on a rectangular backboard 2 without making measurements or tedious trial and error .

[0145]

[0140] Although configurations for fan-shaped backboards 2 may not be able to directly utilize the indices 15 F printed on the lateral support arms 15 , the indices may still be useful on subsequent setups , once the user has determined the appropriate positioning and corresponding inter-index locations of the backboard hook mounts 86 for their particular backboard 2 .

[0146]

[0141] An additional feature of pivoting and telescoping lateral support arms 15 , is that they may be collapsed to a short length and folded downward against the upper frame 12 for more compact transport when not in place on a basketball goal 1 . Incorporating this collapsing / f olding feature into a system such as the one shown in Fig .

[0147] 2 along with a removable ramp 44 , separable top 12 and bottom 13 frames , and the collapsable ball-capture net poles 67 , 68 , string net 65 , net stabilizing cables 69, straps 16, 17 , etc . , enables the system to be reconfigured into a compact package .

[0148]

[0142] Fig . 16A shows a portion of the embodiment of Fig . 2 that includes the upper frame 12 , the net frame 67 , 68 , net tees 66, and the ball-capture-net orifice 21. In Fig . 16A, these components areshown in their assembled configuration, with the upper frame 12 laid flat and the circular arc of the horizontal top pole 67 extending upward . In a preferred embodiment, the horizontal top pole 67 is comprised of six equal segments connected by a single bungee 60 through their hollow centers and connecting ferrules 60A in between the segments . Two supporting poles 68 are connected to the horizontal top pole 67 via two tees 66, with each of the supporting poles comprised of two equal segments connected by a single bungee 60 through their hollow centers and connecting ferrules 60A in between the segments . End ferrules 60B are attached to the ends of each of the end poles of both the horizontal top pole 67 and the supporting poles 68 . The end ferrules 60B fit into receptacles 70 on the lateral support arms 15 and ball-capture-net orifice 21. In addition, the bungee 60 through the center of the horizontal top pole 67 has termination rods 63 secured to each of its ends , The termination rods 63 secure the bungee 60 ends to the lateral support arms 15 by being passed through the receptacles 70 , then turned sideways on the back side of the lateral support arms 15. Thus , the end poles of the horizontal top pole 67 may be pulled out of the receptacles 70 but remain connected in a very flexible manner to the ends of the lateral support arms 15 through the center bungee 60.

[0149]

[0143] Fig . 16B shows the same set of components shown in Fig . 16A in their folded configuration . The net poles 67 , 68 have been pulled away from their connecting ferrules 60A and folded against one another and the lateral support arms 15 , which have been collapsed in length and folded down against the upper frame 12 .

[0150]

[0144] In a preferred embodiment shown in Fig . 16C, all the components of the embodiment of Fig . 2 have been assembled into a compact configuration, nesting and locking together for ease of transport . Alternatively, some of the components may befit into a carrying bag 90 with handles 91. Utilizing the handles 91 or other securing means for the various components allows easy transport as shown in Fig . 16D .

[0145] Returning to Fig . 3 , the ball gueuing chute 33 is comprised of four parts : a ball entrance, a ball constraint cylinder, a ball exit, and a ball escapement mechanism. Balls enter the gueuing chute 33 at the top through a horizontally oriented ball entrance . To assure a reliable transfer of balls into the ball queuing chute 33 , the ball entrance generally needs to be as large or larger than the rigid ball-capture-net orifice 21 at the bottom of the ball-capture net 20 and the center of each, overall referred to as the ball transfer system, should be approximately aligned along a vertical line . In addition, the swiveling action of the ball queuing chute 33 must maintain the alignment of the center of the ball entrance with the center of the rigid ball-capture-net orifice 21 at the bottom of the ball-capture net 20 in order to maintain a reliable ball transfer at any swivel angle . In other words , the ball transfer system 11 should be vertically aligned with the rotational axis of the rotational connection (swivel ) between the connecting frame 10 and the return system 30.

[0151]

[0146] The main function of the ball constraint cylinder portion of the ball queuing chute 33 is to contain a plurality of balls in an approximately vertical stack . The ball constraint cylinder may be made from a rigid or flexible material shaped in a square, circular, oval , or polygon-shaped cross-section, so long as the plurality of balls are maintained in stack that allows balls to move under the influence of gravity . In a preferred embodiment, the internal sides of the ball queuing chute 33 would have rollers or other types of low-friction materials .

[0152]

[0147] The lower section of the ball queuing chute 33 has a ball exit that allows queued balls 5 to be loaded from the queuing chute 33 stack into the throwing mechanism. The ball exit is comprised of an opening at either the bottom of the chute 33 or a portion of the lower vertical side of the ball constraint cylinder . In either case, the ball exit allows balls to exit the cylinder in an approximately horizontal or slightly downwardly angled direction . A ball feed ramp 42 , which allows balls to roll out of the ball constraint cylinder andinto the throwing mechanism also comprises the ball exit . The ball feed ramp 42 may be comprised of a pair of rails of any cross section or a flat or curved surface .

[0153]

[0148] The ball escapement mechanism 50 portion of the ball queuing chute 33 allows a single ball 7 at the bottom of the stack to exit the queuing chute 33 and enter the throwing mechanism without allowing any other balls 5 that happen to be in the queuing chute 33 to follow behind . Without such an escapement 50 , the second ball 5 from the bottom of a stack of balls may interfere with the exiting of the bottom ball 7 from the queuing chute 33 or the throwing action of the bottom ball 6 after the bottom ball 6 has been loaded into the throwing mechanism. Because basketballs are often designed to have high coefficients of friction in order to enable better ball handling by players , one ball touching a second will likely restrict the motion of the second ball , making the ball escapement 50 an essential component of the ball queuing chute 33 .

[0154]

[0149] Many different types of escapements for spherical objects are known in the art ( for example see Boothroyd, 1983 "Handbook of feeding and orienting techniques for small parts" ) and many of which may be utilized in the present invention . In a preferred embodiment , the combination of 1 ) a lifting escapement mechanism 50 , which is utilized to restrain or raise any balls 5 in the queue that are above the bottom ball 7 and 2 ) the retraction of a impacting arm 35 that articulates on the bottom ball 7 and moves in the opposite direction of the throwing action, is utilized to release the bottom ball in the queue position 7 from the stack and position the bottom ball 6 into the active area, the takeoff position 6, of the throwing mechanism. Such lifting mechanism 50 may be comprised of a lever 51 that is activated at the appropriate sequence of a throwing cycle and impacting arm 35 motion to allow a singular bottom ball at the queue location 7 to exit the queue and be thrown by the throwing mechanism. Because of the aforementioned high coefficient of friction of many basketballs, the portions of the escapement and impacting arm 35 that articulate with the balls should have either a low friction materialsuch as Teflon or polyethylene or a rotating bearing 52 , with either rolling elements or low friction elements , in contact with the balls . In the preferred embodiment , at least a portion of the ball constraint cylinder is rigid in order to provide a smooth rolling surface 31 for balls as they are pushed upward by the lifting escapement mechanism 50 .

[0155]

[0150] To expand the utility of the current invention , it is desirable to have the system function well with different sized basketballs . In the United States , men' s and boy' s teams older than 15 years use a si ze 7 bas ketball , which is 29 . 5 inches ( 75 cm) in circumference . Women' s teams as well as girls ' and boys ' teams older than 12 use a si ze 6 bas ketball , which is 28 . 5 inches ( 72 . 5 cm) in circumference . Boys ' and girls ' teams aged between 9 and 11 use a size 5 bas ketball , which is 27 . 5 inches ( 70 cm) in circumference . Boys and girls aged 8 and younger may use a size 4 bas ketball , which is 26 . 5 inches ( 67 . 5 cm in circumference . Figs . 17A and 17 B show how the same preferred embodiment of the es capement arm 51 may be used for a standard s ize 7 basketball , 5A in Fig . 17A and a youth size 5 basketball , 5B in Fig . 17B .

[0156]

[0151] Although the escapement mechanism 50 has been described as being part of the ball queuing chute 33 , one s killed in the art will also recognize that the escapement mechanism 50 may be located in other portions of the system . For example , Fig . 17C shows the es capement arm as part of a ball feed ramp 42 . The ball feed ramp 42 is positioned j ust upstream of the launch ball takeoff position 6 .

[0157]

[0152] In another embodiment of the bas ketball retrieval system, there may be no need for the inclusion of an escapement mechanism for the following reasons . First , if the number of balls being used in the system is limited to one , there is no second ball to create an interference . Second , if the user times their shooting so that subsequent shots with a second ball are delayed until a throw is about to be made by the basketball retrieval system, they may ensure there is no interference . Third, the geometry of the system may not allow for queued balls 5 to interfere with balls 6 being thrown . Forexample, queued balls 5 may touch or press on a ball in the takeoff position 6 at a right angle to the direction of the throw. As long as the frictional force between the two balls is limited, the throw may not be substantially affected by the ball-to-ball interaction.

[0158]

[0153] Fig . 18 shows the different phases of the ball escapement mechanism during the ball loading and throwing process , illustrating how a single ball is released from the ball queuing chute 33 and thrown . The sequence of actions 125-131 illustrates how balls are released from the queue in the ball queuing chute 33 , into the takeoff location 6 and finally propelled out of the system 9. In sequence step 125 , two balls are shown in the ball queuing chute 33 , with the lowest ball in the queue position 7 , which lies on top of a ball feed ramp 42 at the bottom of the queuing chute 33. In sequence step 126 , the escapement arm 51 lifts the second lowest ball 5 in the ball queuing chute 33. To facilitate lifting, the escapement arm 51 pushes the ball 5 against a smooth surface 31 to allow the ball to roll in an upward direction . Only a small amount of lift is required in order to separate the second ball 5 from the lower ball in the queuing position 7 . A rotational bearing 52 at the end of the escapement arm 51 and low-friction or rolling element chute 33 sides also aid the lifting process by reducing the friction between the arm 51 , the chute 33 , and the ball 5 . In sequence step 127 , the torsional spring 36 is partially wound, which moves the impacting arm 35 away from the ball in the queueing position 7 and eventually unblocks the ball feed ramp 42 and leaves a clear path for the ball to roll down the ball feed ramp 42 into the takeoff position 6. In the takeoff position 6 , the ball lies on top of throw guide rails 43 , which help define the ball' s traj ectory. In sequence step 128 , the torsional spring 36 is fully wound and the impacting arm 35 is ready to be released . In sequence step 129 , the impacting arm 35 has been released and is shown impacting the ball in the takeoff position 6. Throughout steps 126 to 129 , the escapement arm 51 keeps the ball in the second queue location 5 out of the way from the ball being thrown 6. In sequence step 130 , the ball that was in the takeoff location 6 hasbeen launched and leaves the system 9. At the same time, the escapement arm 51 drops and releases second ball 5 in the queue .

[0159] Because the launched ball 6a leaves at a high speed and the second ball 5 initially drops slowly because of its at-rest inertia, the balls do not interfere with one another . In sequence step 131 , the second ball 5 drops into the queueing location 7 and the process may be repeated when the system initiates the loading and throwing of the next ball .

[0160]

[0154] The various sequence steps 125-131 may be controlled by an automated control system or in a preferred embodiment, the escapement arm 51 and impacting arm 35 may be kinematically coupled, without the need of an automated controller 99 to coordinate each of the sequence steps 125-131 . In one embodiment shown in Fig . 19 , the escapement mechanism 50 and impacting arm 35 motions may be coordinated through a cam 53 rotating with the arm / spring / throwing shaft 25 , a cam follower 54 and cable 55 attached to the cam follower arm 76 on one end and the escapement mechanism 50 on the other end . The cam follower arm 76 is pivoted to a fixed point 78 and moves away from the arm / spring / throwing shaft 25 as the cam 53 rotates in a clockwise direction . Initially, when the impacting arm 35 is near its rest position, the cam follower 54 rides on a smaller radius 80 circular portion of the cam 53 . A longitudinally stiff cable 55 , such as a steel wire rope, connected to the opposite end of the cam follower arm 76 from the pivot 78 is pulled through its cable sleeve 56 as the cam 53 rotates , which forces the cam roller 54 to move to a higher radius 79 circular portion of the cam 53. This motion actuates the escapement system 50 in coordination with the rotation of the impacting arm 35 . The phantom outline of the various components 35A, 53A, 54A, 55A, 76A in Fig . 19 show their displaced position as the cam 53 rotates and the cable 55 is pulled . The foregoing is one possible configuration of a kinematic coupling between the impacting arm 35 and the escapement arm 51. For example , the cable 55 may be connected to a different portion of the cam follower arm 76, or the cable 55 may be replaced with a rigid push or pull or torsional shaft, or the cam maypull the cam follower arm 76 closer to the arm / spring / throwing shaft 25 instead of pushing the arm / spring / throwing shaft 25 farther, etc .

[0161]

[0155] Fig . 20 shows the coordinated timing of each of the sequence steps 125-131 , the angle 133 of the escapement arm 51 and the angle 134 of the impacting arm 35 for a kinematically coupled system in the above embodiment . In the first sequence step 125 , both arms are defined to be at angle zero at time 135 . As the torsional spring 36 starts to be wound in sequence step 126, the impacting arm 35 angle increases 155 and the escapement arm 51 moves 145 to a lifted position at time 136. Time 136 occurs when the impacting arm 35 is still blocking the ball in the gueueing location 7 from dropping into the takeoff location 6. At time 137 , the impacting arm 35 clears the ball - sequence step 127 - in the queuing location 7 and allows the ball to move from that location to the takeoff location 6. Note that the escapement arm 51 dwells 146 at the lifted position during the rest of the spring 36 winding sequence . Sequence step 128 , where the torsion spring 36 is completely wound, occurs at time point 138 . That is also the time when the arm is released 156 and strikes the ball in sequence step 129 at time 139. The escapement arm 51 initiates a descent 147 at time 139 but moves much slower than the fast-moving impacting arm 35 . Because the impacting arm 35 transfers momentum to the stationary ball 6, the impacting arm 35 briefly dwells 157 before returning 158 to a rest position at angle zero . Subsequent to the impacting arm 35 striking the ball in the takeoff location 6, at time 140 , the impacting arm 35 returns to a zero angle in seguence step 130.

[0162] Subseguent to the impacting arm 35 coming to rest, the escapement arm 51 also comes to rest in sequence step 131 at time 141 , at which time the next ball 5 descends to the queuing position 7 .

[0163]

[0156] It should be noted that although the sequence steps 125-131 and their associated timing in Fig . 20 show the case of a long throw, when the spring 36 is fully wound, it is also valid for the case of a shorter throw, when the spring 36 is not fully wound .

[0164] Because the cam follower arm 76 dwells along the outer circular cam surface 79 during the maj ority of the impacting arm' s 35 rotation(times 136-139 ) , the kinematic coupling and coordination between impacting arm 35 and escapement arm 51 is unaffected by the length of the spring 36 winding for a wide variety of throw distances . The critical coordination occurs only at the early stages (times 135-136 ) of rotation.

[0165]

[0157] Prior to impacting the ball 6, the impacting arm 35 rotates at a high rate of speed . For safety, an impacting-arm shroud 190 is an important component to include in a motorized return mechanism 30. It is important that the impacting-arm shroud 190 cover the entire operating volume of the impacting arm 35 so that users are protected from inadvertent contact . This requires the shroud 109 be configured as a relatively large hollow, circular disc . Fig . 24 shows one embodiment of an impacting-arm shroud 190A. In this embodiment , a rigid shell 191, shown as transparent in Fig . 24 , encloses both the impacting arm 35 throughout its excursion as well as the ball 6 in its takeoff position .

[0166]

[0158] Although the impacting-arm shroud 190A in Fig . 24 can effectively cover the impacting arm 35 throughout its excursion and protect users , it is fairly large and unwieldy, so it may not meet the objective of having a system that is compact for transport and storage . Another embodiment of the impacting-arm shroud 190B shown in Fig . 25 encloses a similar volume as the solid shell 191 system but may be collapsed to a smaller, lighter and easier to transport-and-store size , Fig . 27. In this embodiment, a plurality of U-shaped, radial spokes 192A, 193 positioned in a circular configuration about the rotational center of the impacting arm 35 provide a structure for a flexible cover 191A. Fig . 26 illustrates a U-shaped spoke 192A from the side as seen inside of the shroud 190B . The spokes 192A, 193 may be constructed from any number of materials , so long as they are relatively rigid, including steel, aluminum, plastic, etc . The spokes may be either free to rotate 192A or fixed in location 193 . In the embodiment shown in Fig . 27 , the movable spokes 192A may be brought together ( collapsed) towards the fixed spoke 193 near the edge of the shroud 190B . The flexible cover 191A collapses similar to an accordionhad fan and needs to have enough compliance to collapse its shape 191B as the spokes 192B are brought together . The cover 191A, 191B may be constructed from any number of materials , so long as they are highly flexible and high strength, including cloth, metal mesh, plastic, etc . Two large-diameter ring guides 195 , one on each side of the impacting arm 35 , may be used to help stiffen the movable spokes 192A. The movable spokes 192A may either have two loop features 198 as part of the spoke wire itself that encircle the ring guides 195 or a smaller, separate coupling ring 194 that constrains the side wires of the spokes 192A to remain in close proximity to the ring guides 195 . Since the ring guides 195 are generally made from a larger diameter material than the movable spokes 192A, they will be significantly stiffer and may help maintain the shape of the shroud 190B when subj ected to lateral forces that might otherwise displace it . The ring guides 195 need not be precisely circular nor centered at the same pivot point as the moving spokes 192A, as the coupling ring 194 or spoke loops 198 can provide effective constraint at different radial distances along the spoke wire to maintain the spoke wire' s proximity to the ring guide 195 and thereby maintain a higher overall stiffness compared to spokes 192A whose only connection is at the pivot at their proximal end .

[0167]

[0159] Yet another embodiment of the impacting-arm shroud 190C shown in Fig . 28 encloses a similar volume to the solid shell 191 system but is constructed of a plurality of smaller rigid segments 196A, 196B, 196C, which may be collapsed to a smaller size , Fig . 29. In this embodiment , each segment 196A, 196B, 196C is essentially a "pie slice" of a solid shell 191 , which may nest within one another to reduce the overall volume of the shroud 190C when collapsed . All the segments 196A, 196B, I 960 rotate about a central pivot point 197 and are able to fit within one another in order to nest into a smaller overall size . Although Figs . 28 , 29 show three segments 196A, 196B, I960, any number may be used .

[0168]

[0160] Although several examples of how an impacting-arm shroud 190 may be configured to cover the impacting arm 35 aredescribed herein, one skilled in the art may find additional ways to accomplish said covering using other configurations that may be altered to be easier to handle and more transportable .

[0169]

[0161] The basketball retrieving system of the current invention that utilizes a motorized return mechanism 30 is controlled by an electronic controller 99 shown in Fig . 30. All of the functions of the system are controlled by a microcontroller 100. The microcontroller 100 preferably has a radio communication feature that may include one or more of BLUETOOTH, cellular, WIFI or similar wireless connections . The controller 99 has a number of functions including radio communication through an antenna 101 , control of the swivel motor drive 117 which provides power to the swivel motor 45 , control of the wind motor drive 115 which provides power to the wind motor 37 . A number of sensors and other inputs are typically needed by the microcontroller 100 to position the motors to appropriate positions including an interface 114 to the wind motor 38 encoder, interface 116 to the swivel motor 37 encoder 38 , a wind-motor index sensor 113 , and a swivel motor index sensor . Index sensors are not required if the wind motor encoder 38 or swivel motor encoder 46 are absolute encoders . In addition to the motor index sensors , a separate impacting arm index sensor 112 will enable the system to assure that the impacting arm 35 is in a known starting location to help eliminate errors in the spring 36 winding process . The microcontroller 100 system also has a number of outputs to communicate status to the user, including an HMI (human machine interface ) display interface 104 and HMI display 105 , an audio speaker interface 102 and audio speaker 103 , and a lighting interface 106 for any system status lighting 107 . The system may optionally include sensors to determine the status of balls loaded into the system including a ball-in-queue sensor 111 that measures whether a ball is present at the lowest position of the ball chute 33 and ready to be loaded, and a ball takeoff sensor 110 , which measures whether a ball is present at the location where the ball may be thrown .

[0162] For a basketball retrieving system of the current invention that utilizes a motorized return mechanism 30 , as shown in Fig . 1 , the passing of the ball to a deep location on the court necessitates a forceful, high-speed throw of a ball by the system. This may be hazardous to a user standing directly in front of the motorized return mechanism 30 , if the user is unaware that a throw is forthcoming . An optional player sensor 123 may be utilized as a safety mechanism to delay any return throws when an obj ect, such as a person, is detected in front of the motorized return mechanism 30.

[0170]

[0163] For a basketball retrieval system that utilizes a nonmotorized return system 30 such as a ramp 44 , as shown in Fig . 2 , a ball detection sensor 132 (ball sensor ) replaces the ball-in-queue sensor 111 to determine when a ball has been shot and passes through the basketball retrieval system. It is important to incorporate a ball detection sensor 132 to measure the passing of a ball through the system in order for the controller 99 to implement a shooting drill with multiple return destinations . In this manner, the controller 99 is able to keep a count of how many balls have been shot and activate the swivel motor 45 when appropriate to re-aim the ramp 44 to the proper position to return any subsequent shot .

[0171]

[0164] In a preferred embodiment, the ball detection sensor 132 in the non-motorized return system may be paired with a vibration sensor that can register the vibration created when a ball drops onto the return ramp 44 . This enables a more reliable sensing of a ball that has been captured by the ball-capture net 20 and transferred to the ramp 44 , as it eliminates most spurious signals from the ball detection sensor 132 alone , which might be triggered by an obj ect that did not originate in the ball-capture net 20 passing in front of it . For this configuration, the controller 99 would detect all vibrations within the system yet would only register the passing of a ball if the ball detection sensor 132 had a detection event shortly ( say within one second) after a vibration is sensed .

[0172]

[0165] The electronics in the current invention may be powered by either a battery pack 109 and regulator / battery managementsystem 108 or through a wall charger 119. A wall charger interface 118 lets the microcontroller 100 know whether the electronics are being run solely on battery 109 power or through a wall charger 119. The wall charger also has a connection to the battery pack 109 through the regulator / battery management system 108 . Optionally, the microcontroller 100 has an additional input from the power switch 120 , which can help the microcontroller 100 with a controlled shutdown when the user powers down the machine by having timer electronics that extend the time that power is available to the controller 99 before complete power shutdown .

[0173]

[0166] For either the motorized return system shown in Fig . 1 or the ramp-based return system shown in Fig . 2 , it may be desirable to detach the return mechanism 30 from the connecting frame 10 or the lower frame 13 . Such a detachment feature is advantageous for several reasons . First , it significantly reduces the weight and size of the ball retrieval system during assembly to or disassembly from to the goal 1 , thereby making it easier for a single person to install or remove a more manageable portion of the ball retrieval system. Second, it enables the capture net 20 and connecting frame 10 to remain attached to the goal while the batteries 109 within the return mechanism 30 are recharged at a remote location . Third, it enables a quick substitution of a charged return mechanism 30 with a charge-depleted return mechanism 30 , thereby extending the time for continuous use of the ball retrieval system. Such a detachment feature may be implemented through a detachable lower frame 13 from the connecting frame 10, a detachable portion of the lower frame 13 , a removeable battery pack, or a separation between the return mechanism 30 and the lower frame 13. The detachment feature may be implemented using spring buttons in interlocking tubes , removable pins , knobs , clamps , etc .

[0174]

[0167] The controller 99 for the basketball retrieving system in the current invention accepts requirements for throws to a user and translates that into event sequencing and wind motor 38 and swivel motor 45 positioning commands . The system may be run independently( locally) or through a wireless connection to a remote computational system 121 . If run independently, the system can execute commands that are derived from a user' s preferences as input through the human machine interface 104 and display 105 . If run through a wireless connection, the system will execute commands sent by the remote computational system 121.

[0175]

[0168] A somewhat simplified controller 98 , Fig . 31 , may be used for a basketball retrieval system that utilizes a non-motorized return system 30 such as a ramp 44 as shown in Fig . 2 .

[0176]

[0169] Fig . 32 shows the flow chart 500 for the controller 99 under local / independent control . When the controller 100 starts upon power up 501 , the controller 100 first determines if the wind motor 38 and impacting arm 35 are in their home positions 503. If not, the controller 100 executes a homing routine 502 . The homing routine 502 brings the impacting arm 35 to a rest position and the wind motor 38 to a zero angle, so both are properly positioned to initiate a spring 36 wind . The controller 99 then determines whether the user is operating the system locally or through a wireless connection 504. In the case of a wireless connection, the systems will execute commands sent over the wireless communication as per flow chart 550 in Fig . 33. If the system is operated locally, the system determines 506 if the user has defined a throwing process . If not, the system uses default settings 508 and proceeds . If the user does define throwing parameters 507 , the system will use those and proceed .

[0177]

[0170] The system will not initiate throwing actions until the user has enabled the system to start the throwing process 509. The system first determines 510 if there is a ball in the takeoff location . In the normal process , there should be no ball in that location unless the system has moved the ball from the queuing location 7 to the takeoff location 6. If there is a ball in the takeoff location 6 as detected by the takeoff sensor 110 , the ball must be manually removed, which triggers an error 511 in the process and a message to the user through the HMI 104 to remove the ball that should not be present in that location .

[0171] The controller 99 then checks if a ball is present at the queue location 7 through the queue sensor 111. If no ball is present, then there is no ball available to throw and the system waits until one is detected . Once a ball is detected, then the system readies a throw of the ball . If no ball was recently thrown 516, the controller 99 issues a warning 515 that throws will be starting . This may be in the form of a display on the HMI 104 , the signaling with lights 106 , 107 and / or audio annunciation through a speaker 102 , 103. The purpose of the warning is to ensure users are not located in front of the throwing outlet and are prepared to retrieve the ball .

[0178]

[0172] Next, the controller 99 determines if the swivel motor 45 is at the required angle 518. If not, the controller 99 moves 517 the motor 45 in the appropriate direction until the swivel motor 45 is at the set angle 519. If the motor does not arrive at some maximum time , then an error 521 is triggered . Once the swivel motor 45 is at the set angle, the system checks that there is not an additional dwell time 520 required prior to the throw . Such a delay may be required if there is a minimum time set by the user between throws . Next, the spring 36 is wound 522 and the appropriate angle is reached 524 . If the angle is not reached within a reasonable time, then an error 523 is triggered . Once the spring 36 is wound to the required set point, the arm is released, and the throw is executed 525 . Prior to initiating the next throw, the throw angle , throw frequency and throw strength variables are set 526 for the next throw . The process is then repeated starting at step 509 until the user terminates the cycle . They cycle may be paused at any time by the user halting their shooting .

[0179]

[0173] If the system control has been transferred to remote operation in step 505 , then the remote operation flowchart 550 is executed . In remote operation, throw instructions are received one at a time from a remote computational device 121 and then executed by the controller 99. If at any time the wireless connection is severed 552 , the system will notify the user of the broken connection 555 and inquire 556 whether the user wishes to return to local operation . Ifthe user wishes to do so, then control is passed to the local control process 557 , 500. If a wireless connection is present, then the controller 99 checks whether the parameters for the next throw have been received 554 . If not, a message is displayed 553 that the system is waiting and will continue to wait until the parameters are received . Once received, they are internally stored 558 , the system is checked that the user has enabled throwing 559 and the system proceeds in a similar way to the local control flow chart 500 starting at step 510. Once the throw is completed 578 , the controller 99 sends a wireless message 580 back to the remote computational system 121 that the throw is completed and then starts the process again ( step 552 ) for the next throw .

[0180]

[0174] The controller 99 may also optionally be connected to a shot tracking sensor system 122 . A shot tracking sensor 122 may measure one or more of a wide variety of properties of a shot ball including, but not limited to : made goal, missed goal, "swished" goal, ball two-dimensional horizontal location proximate the goal, ball three-dimensional traj ectory, ball three-dimensional speed, ball spin, player location on the court, and ball release location . If such a sensor system is present, the sensor system may be connected to the controller through either a direct wired connection (dashed line in Fig . 31 ) or through a wireless connection . Alternatively, the optional shot tracking sensor system 122 may communicate wirelessly to a remote computational system 121 rather than the microcontroller 100.

[0181]

[0175] The ball retrieving system of the present invention can execute programs that comprise drills or workouts , which can vary time intervals between retrievals , number of cycles , passing velocities , and passing locations . If fitted with a shot tracking sensor system 122 , the system may respond differently to shots that are made or missed . For example, if a drill requires say two made shots before the shooting location is changed, then the microcontroller 100 or remote computational system 121 will maintain the same swivel and throw distance until a second goal is made , at which point the settings for swivel angle and throw distance maychange commensurate with the drill requirements . Without a shot tracking sensor system 122 , the system detects the presence of balls through its ball-in-queue sensor 111 or a ball detection sensor 132 but does not have the capability to respond differently to makes versus misses . A further benefit of being fitted with a shot tracking sensor system 122 is that the system may respond in a timelier fashion to shots taken . For example, a system with a shot tracking sensor system 122 can immediately throw a ball back to a user as soon as the previous shot is detected, thereby maximizing the number of balls thrown in a given time period . Systems operating without a shot tracking sensor system 122 , must rely on a preset throw frequency (time between throws ) to determine when to initiate a throw . In an alternative configuration, the system may be utilized with a throw frequency set to a small number . Thus , the system will initiate a throw as soon as its ball-in-queue sensor 111 or ball detection sensor 132 detects a ball . This will return balls at a pace commensurate with users' shot timings; however, there will be a longer time lag between throws , as the system will need to wait for the ball to be tunneled by gravity through the ball-capture net 20 , through the rigid ballcapture-net orifice 21 , through the ball queuing chute 33 ( if present) until the ball finally registers by the ball-in-queue sensor 111 or ball detection sensor 132 .

[0182]

[0176] During any of the aforementioned controller 99 throwing sequences for a system fitted with a motorized return mechanism 30 , the controller 99 would pause any throws , create an alert or signal an error condition if an obj ect is detected by the optional player sensor 123 j ust prior to the impacting arm 35 being released . This interruption in the normal control sequence is implemented as a safety feature to help avoid injuries of users on the court while the system is operating .

[0183]

[0177] Unlike conventional systems , the combination of the weight saving elements described herein, namely, the long spring wind angle enabling a smaller wind motor, the system anchoring to the basketball goal instead of the player surface and the lightweightcollapsible net, enable the construction of a fully functional basketball retrieval system that weighs under 80 pounds ( 37 kg ) and preferably below 50 pounds ( 23 kg) , allowing a single user to install the system. For a basketball retrieval system that utilizes a nonmotorized return system 30 such as a ramp 44 , as shown in Fig . 2 , the system weight may be below 25 points ( 12 kg) . Removing the return mechanism 30 can reduce the weight of the connecting frame 10 and ball-capture net 20 to under 20 pounds ( 9 kg) , thereby reducing the required effort in attaching the system to a goal .

[0184]

[0178] There has been provided a basketball retrieving system. While the system has been described in the context of specific embodiments thereof , other unforeseen alternatives , modifications , and variations may become apparent to those skilled in the art having read the foregoing description . Accordingly, it is intended to embrace those alternatives , modifications , and variations which fall within the broad scope of the appended claims .

Claims

1. WHAT IS CLAIMED IS :

1. A basketball retrieval system comprising :a connecting frame suspended from a basketball goal, the basketball goal comprises a circular rim, a rim extension and a backboard;a ball-capture net attached to the connecting frame;a ball returner configured to pass a ball to a user on a court and the ball returner having a rotational connection to the connecting frame, the rotational axis of the rotational connection is oriented about a vertical axis ; anda ball transfer system configured to transfer the ball from the ball-capture net to the ball returner;wherein, the ball-capture net comprises a net frame and a string net attached thereto; andwherein the net frame is constructed from a plurality of lightweight flexible poles .2 . The basketball retrieval system according to claim 1 , wherein at least one of said plurality of lightweight flexible poles incorporates an oval- or circular-arc horizontal top pole .

3. The basketball retrieval system according to claim 2 , wherein said circular arc is a maj or arc horizontally centered above the circular rim within 18 inches ( 46 cm) .4 . The basketball retrieval system according to claim 2 , wherein said net frame incorporates a plurality of support poles that articulate with the horizontal top pole to help the top pole maintain a horizontal orientation .5 . The basketball retrieval system according to claim 2 , wherein the horizontal top pole is comprised of a plurality of hollowpole segments attached by a central bungee cord .

6. The basketball retrieval system according to claim 4 , wherein each of the plurality of support poles is comprised of a plurality of hollow-pole segments attached by a central bungee cord .7 . The basketball retrieval system according to claim 4 , wherein said articulation utilizes at least one tee, wherein the at least one tee accepts two segments of the horizontal top pole and a distal end of at least one support pole of the plurality of support poles and the at least one tee rigidly maintains the position and orientation of the poles relative to one another .8 . The basketball retrieval system according to claim 4 , wherein ends of said horizontal top pole are supported by receptacles incorporated into the lateral support arms on the connecting frame .

9. The basketball retrieval system according to claim 8 , wherein the ends are further connected to the lateral support arms through bungee cords .10 . A basketball retrieval system comprising :a connecting frame suspended from a basketball goal, the basketball goal comprises a circular rim, a rim extension and a backboard;a ball-capture net attached to the connecting frame;a ball returner configured to pass a ball to a user on a court and the ball returner having a rotational connection to the connecting frame, the rotational axis of the rotational connection is oriented about a vertical axis ; anda ball transfer system configured to transfer the ball from the ball-capture net to the ball returner;wherein, the ball-capture net comprises a net frame and a string net attached thereto;wherein the net frame is constructed from a plurality of lightweight flexible poles ; andwherein at least one net stabilizing cable is connected between the net frame and the connecting frame .11 . The basketball retrieval system according to claims 7 and 10 , wherein the connection of the at least one stabilizing cable to the net frame is at the at least one tee .12 . The basketball retrieval system according to claim 1 , wherein said ball transfer system incorporates a ball-capture-net orifice attached via connecting straps to the string net at a lower edge of the net .13 . The basketball retrieval system according to claim 8 , wherein the height of ball-capture net above the basketball goal is raised or lowered .14 . The basketball retrieval system according to claim 13 wherein the raising or lowering is accomplished by changing an orientation and a length of the lateral support arms , changing either the length of or the proximal-end connecting-frame connection points of the net stabilizing cables , adding or subtracting a length to the support poles and at least one of increasing or decreasing the length of the connecting straps between the string net and the ball-capture-net orifice .15 . The basketball retrieval system according to claim 1 , wherein at least one of said plurality of lightweight, flexible poles is constructed from fiberglass or other fiber composite material .

16. The basketball retrieval system according to claim 1 , wherein the connecting frame incorporates constraint elements that pass behind sides of the backboard of the basketball goal and wherein the constraint elements geometrically constrain the ball retrieval system from forward motions relative to the backboard .17 . A process for constructing a basketball retrieval system comprising :constructing a connecting frame;constructing a net frame from a plurality of lightweight flexible poles , a portion of which when assembled is formed into a horizontal oval- or circular-arc pole ;constructing a string net; andconstructing a ball returner having a rotational connection that when assembled is connected to the connecting frame .18 . The process for constructing a basketball retrieval system according to claim 17 , wherein the construction of the net frame further includes the construction of a plurality of support poles that when assembled, articulates with the horizontal oval- or circular-arc pole .

19. The process for constructing a basketball retrieval system according to claim 18 , wherein the construction of the net frame further includes the construction of at least one tee that when assembled, accepts two segments of the horizontal oval- or circulararc pole and an end of the at least one support pole so that the at least one tee rigidly maintains the position and orientation of the poles relative to one another .20 . The process for constructing a basketball retrieval system according to claim 18 , which further includes the construction of at least one net stabilizing cable that when assembled, is connected between the net frame and the connecting frame .21 . A basketball retrieval system comprising :a connecting frame suspended from a basketball goal, the basketball goal comprises a circular rim, a rim extension and a backboard;a ball-capture net attached to the connecting frame;a ball returner configured to pass a ball to a user on a court and the ball returner having a rotational connection to the connecting frame, the rotational axis of the rotational connection is oriented about a vertical axis ;a ball transfer system configured to transfer the ball from the ball-capture net to the ball returner; andwherein, the rotational axis of the rotational connection is connected to the connecting frame from the side via an offset lateral member .22 . The basketball retrieval system according to claim 21, wherein the offset lateral member extends between 45 and 135 degrees to the left or right of the rotational axis as measured from the backboard perpendicular .23 . The basketball retrieval system according to claim 21, wherein the ball returner includes an actuator arm that moves in a vertical plane that is offset from the vertical rotational axis .24 . The basketball retrieval system according to claim 21, wherein the ball transfer system is approximately vertically aligned to the rotation axis of the rotational connection .25 . The ball retrieval system in claim 21, wherein the vertical connection rotates over a range of 150 to 220 degrees .

26. The ball retrieval system in claim 23, wherein the actuator arm moves over an angle greater than 90 degrees .27 . The ball retrieval system in claim 26, wherein the actuator arm moves over an angle between 90 and 360 degrees .28 . A process of constructing a basketball retrieval system comprising :constructing a connecting frame with an offset lateral member; constructing a ball-capture net; andconstructing a ball returner having a rotational connection having a vertical axis that when assembled, the rotational connection connects to the offset lateral member of the connecting frame .

29. The process of constructing a basketball retrieval system in Claim 28 , wherein it further includes the constructing of an actuator arm that when assembled, moves in a vertical plane that is offset from the vertical rotational axis .30 . A basketball retrieval system comprising :a connecting frame suspended from a basketball goal, the basketball goal comprises a circular rim, a rim extension and a backboard;a ball-capture net attached to the connecting frame;a ball returner configured to pass a ball to a user on a court and the ball returner having a rotational connection to the connecting frame, the rotational axis of the rotational connection is oriented about a vertical axis ; anda ball transfer system configured to transfer the ball from the ball-capture net to the ball returner;wherein, the connecting frame incorporates acute-angled left and right lateral support arms ;wherein, each of the lateral support arms incorporates a backboard hook positioned along its length that can pull forward against the rear side of the backboard .31 . The basketball retrieval system according to claim 30 , wherein except for the basketball goal , none of the components of the basketball retrieval system contact a playing surface or ground .32 . The basketball retrieval system according to claim 30, wherein the backboard hooks are located at a vertical position above the plane of the circular rim.33 . The basketball retrieval system according to claim 30, wherein the backboard hooks are located in a horizontal plane whose vertical position is above the plane of the circular rim.34 . The basketball retrieval system according to claim 30, wherein the connecting frame further incorporates at least one foot that articulates with the backboard .35 . The basketball retrieval system according to claim 30, wherein the connecting frame rests on top of the rim extension .

36. The basketball retrieval system according to claim 30, wherein the connecting frame further incorporates at least one goal shelf that articulates with both the top and rear surfaces of the circular rim.37 . The basketball retrieval system according to claim 36, wherein a combination of gravity, a backboard hook, at least one foot and the at least one goal shelve constrain the position of the connecting frame in six degrees of freedom.38 . The basketball retrieval system according to claim 30, wherein, the distal end of each of the lateral support arms is attached to the ball-capture net .

39. The basketball retrieval system according to claim 38 , wherein, the proximal end of each of the lateral support arms is pivotally attached to the connection frame .40 . The basketball retrieval system according to claim 39, wherein, the acute angle of each of the lateral support arms is altered by a pivotal rotation at their proximal end .41 . The basketball retrieval system according to claim 40, wherein, the height of the ball-capture net is altered by changing the acute angle of the lateral support arms .42 . The basketball retrieval system according to claim 41, wherein, the length of each lateral support arm is altered .43 . The basketball retrieval system according to claim 41, wherein, the ball-capture net is also attached to vertical supports which are in turn attached to the connection frame .44 . The basketball retrieval system according to claim 30, wherein, the position of each backboard hook along each lateral support arm' s length is changeable .45 . The basketball retrieval system according to claim 44 , wherein a desired height of the ball-capture net and a width of the backboard determine an acute angle of the lateral support arms , the position of the backboard hooks along the lateral support arms , and a length of the ball-capture-net' s vertical supports .

46. A process of constructing a basketball retrieval system comprising :constructing a connecting frame;constructing left and right lateral support arms ; constructing one or more backboard hooks that is positioned along the length of the lateral support arms ;constructing a ball-capture net; andconstructing a ball returner having a rotational connection, which is connected to the connecting frame .47 . The process of constructing a basketball retrieval system in claim 46, wherein the constructing of the lateral support armsincludes the constructing of receptacles used for a connection to the ball-capture net .48 . A basketball retrieval system comprising :a connecting frame suspended from a basketball goal, the basketball goal comprises a circular rim, a rim extension and a backboard;a ball-capture net attached to the connecting frame;a ball returner configured to pass a ball to a user on a court and the ball returner having a rotational connection to the connecting frame, the rotational axis of the rotational connection is oriented about a vertical axis ;a ball transfer system configured to transfer the ball from the ball-capture net to the ball returner;wherein, the returner encompasses a ramp that is angled downward and outward at its distal end and whose proximal portion is proximate the rotational connection; andwherein, the proximal portion of the ramp has an upper segment that resides over the rotational connection and a lower segment that resides under the rotational connection;wherein the lower segment of the proximal portion of the ramp is connected to a swivel actuator located primarily under the rotational connection, and whose rotational axis is colinear with the vertical axis of the rotational connection .

49. The basketball retrieval system according to claim 48 , wherein the swivel actuator includes a swivel motor with an output shaft fixed to the connecting frame and a motor body that rotates .

50. The basketball retrieval system according to claim 49, wherein the motor body of the swivel motor is attached to an electronics enclosure that incorporates a plurality of electronics components .51 . The basketball retrieval system according to claim 50, wherein the plurality of electronics components includes a microprocessor-based controller and a human-machine-interface display.52 . The basketball retrieval system according to claim 50, wherein the ramp is attached to the same rotating portion as the electronics enclosure .53 . The basketball retrieval system according to claim 52 , wherein the electronics enclosure incorporates a ball sensor .54 . A basketball retrieval system comprising :a connecting frame suspended from a basketball goal, the basketball goal comprises a circular rim, a rim extension and a backboard ;a ball-capture net attached to the connecting frame;a ball returner configured to pass a ball to a user on a court and the ball returner having a rotational connection to the connecting frame, the rotational axis of the rotational connection is oriented about a vertical axis ;a ball transfer system configured to transfer the ball from the ball-capture net to the ball returner;wherein, the returner encompasses a ramp that is angled downward and outward at its distal end and whose proximal portion is proximate the rotational connection;wherein, the proximal portion of the ramp has an upper segment that resides over the rotational connection and a lower segment that resides under the rotational connection; andwherein the lower segment of the proximal portion of the ramp is connected to a swivel actuator located primarily under the rotational connection, and whose rotational axis is colinear with the vertical axis of the rotational connection;wherein the upper segment of the proximal portion of the ramp incorporates sufficiently wide and angled surfaces to capture ballcoming from the ball transfer system and send them down the distal portion of the ramp .55 . A process of constructing a basketball retrieval system comprising :constructing a connecting frame;constructing a ball-capture net;constructing a ball returner having a rotational connection, which is connected to the connecting frame ;constructing a ramp, which when connected to the rotational connection, will have a distal end that is angled downward and outward and a proximal portion that is proximate the rotational connection; wherein the constructing of the ramp includes constructing an upper segment and lower segment of its proximal portion, which when connected to the rotational connection, has its upper segment residing over the rotational connection and its lower segment residing under the rotational connection .

56. The process of constructing a basketball retrieval system in claim 55 , wherein the constructing of the upper segment of the proximal portion of the ramp includes constructing sufficiently wide and angled surfaces to capture balls and send them down the distal portion of the ramp .57 . The process of constructing a basketball retrieval system in claim 55 , wherein the constructing of the ball returner also includes the constructing of a swivel actuator, which when assembled, is located primarily under the rotational connection, and whose rotational axis is colinear with the vertical axis of the rotational connection58 . The process of constructing a basketball retrieval system in claim 57 , wherein the constructing of the swivel actuator also includes the constructing of an electronics enclosure encompassingboth the swivel actuator and a plurality of electronics components electronics .

59. The process of constructing a basketball retrieval system in claim 58 , wherein the constructing of the electronics enclosure also includes the encompassing of a ball sensor .

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