Technical Field

The invention is applicable in the field of self-service apparatuses for hiring objects. In particular, the invention is applicable but not limited to the self-service hiring and returning of smart toys that comprise moving parts that can be arranged in various positions related to one another.

Various known types of brain teaser puzzle toys consist of a set of components, for which users are invited to find a solution to achieve either the mechanical decoupling of one or several components from the toy set, either the transformation of the toy set from its initial reference shape into a certain secondary shape, or the coupling in a certain way of at least two parts that were initially disengaged, after which the user must return the assembly or set of parts of the toy in a reference arrangement of its components so as to leave the toy in a state suitable for reuse by another user. An example of a toy in which at least one piece must be detached from the rest of the assembly is a toy in which a ring must be removed from a multi -piece assembly. An example of a toy that only allows operations to change the relative positions of the component parts but not the decoupling of any part of the whole is that of a "transformer" figurine toy of which shape can be changed from the silhouette of a humanoid character into a form of vehicle. An example of a toy set with initially disconnected parts, as disclosed in the patent application WO2011138623, comprises a first piece in the shape of an egg with several cavities that communicate with each other through a 3D maze and a second piece in the shape of a small bar with spherical ends, which must pass through the 3D maze in the first piece between an entry point and an exit point, thus restoring the toy to its original state with the two parts detached from each other.

Background Art

Self-service machines for hiring and returning books, or media such as CDs or DVDs, or umbrellas or sporting devices are known. The patent application CN109685974 A discloses a self-service machine for renting and returning books and a method for checking the returned books. The machine comprises three book checking means: a reader of an RFID code of the returned book, a weighing sensor and one or more cameras for acquiring images of the book covers. The mass of the book and the visual appearance of the covers are compared between the rental time and the return time, so that the machine can identify eventual new deteriorations of the book at the return time.

However, such machines cannot be effectively used in applications in which the returned object is at least one model of a toy comprising moving parts that can be presented for return in substantially distinct spatial arrangements of the respective toy, where it is needed to verify if the return arrangement of the toy complies or not with a reference arrangement of the respective toy model in order to classify it as eligible or not for a new lending. This is because in case of most of brain teaser puzzle toys that comprise two or more moving pieces that can take various reciprocal positions, a reference spatial arrangement is not determined by a single rigid arrangement of the toy components relatively to one another, but is determined by a rule or a set of rules that characterizes the reciprocal positions and inter-connections of the component parts of that toy, rules which can be satisfied in a plurality or in an infinity of distinct spatial arrangements of the parts of the toy, both at the hiring time and at the return time. A plurality or an infinity of the possible return arrangements might be equivalent with a reference arrangement of the toy. The differences among such distinct spatial arrangements may consist in certain linear or angular displacements among the components, without such differences invalidating the equivalence with the reference arrangement of that toy.

Summary of Invention

According to a first aspect of the invention, is disclosed a method of verifying the spatial arrangement of a toy set of moving components that can take various reciprocal positions, which is being returned by a user to a return apparatus, the method comprising: identifying the toy set being returned; providing, in a user interaction compartment, a system for verifying the return arrangement of the toy set; checking the conformity of the toy set arrangement with a reference arrangement of the respective toy set model; classifying the returned toy set as eligible or ineligible for a new hiring; storing the returned toy set at a storage address in the return apparatus. The method is presented in two variants: A) a variant using a substantially mechanical checking device; B). a variant using a computer vision inspection system.

According to a second aspect of the invention, is disclosed a self-service apparatus in several embodiments, applicable for returning toy sets that comprise moving parts that can be arranged in various positions relative to each another. Each embodiment discloses a constructive variant of a system for inspecting if the spatial arrangement of the parts of the toy assembly at the return time complies with a reference arrangement. The apparatus comprises: a toy set storage; a return compartment; a system for transporting the returned toy sets to the toy set storage; a processor; a user interaction interface; a device that can read an identification code of the toy set being returned or of its user; a system for inspecting the reciprocal positions and inter-connections of the returned toy set components; an optional sensor for verifying the returned toy set integrality; an optional sensor for verifying the positioning of the returned toy set in a checking device inside the return compartment. In some embodiments, the apparatus may be used for both lending and returning operations.

Technical Problem

The technical problem to be solved is that of determining, in a return operation carried out at a self- service return apparatus of a certain toy set that comprises moving parts that can be arranged in various substantially distinct reciprocal positions, whether the components of the toy set being returned are in a spatial arrangement that is equivalent with a reference arrangement of the toy set model in question, where the reference arrangement is characterized not by a fixed geometry but merely by a rule stating how at least two of the component parts of the toy must be inter-connected and reciprocally positioned, and wherein said rule can be satisfied in a plurality or even in an infinity of reciprocal positions of the toy set components, which create significantly distinct shapes of their assemblies. Solution to Problem

The present invention solves the problem of determining the equivalence of the arrangement of a toy set being returned and a reference arrangement of the respective toy model by providing, at the return apparatus, an inspection system for verifying the integrity of the returned toy and the inter-connection relations among its component parts, so to check if the return arrangement fulfills the rule or set of rules that characterizes the reference arrangement. The inspection system uses either substantially mechanical checking techniques or a computer vision technique adapted for detecting the components of an assembly and the characteristics of their reciprocal positioning and inter-connection relations. The substantially mechanical inspection system is so adapted as to receive the returned toy set to fit inside a template checking device only if either all the toy set components are arranged in reciprocal positions that create a spatial arrangement that is equivalent to a reference arrangement of that toy set, or the returned toy set does not contain all of its components, the latter case being identified by means of at least one sensor that checks the integrity of the returned toy set. The computer vision inspection system detects by the one hand each of the toy components individually, and by the other hand the reciprocal positioning of the toy components, even in significantly distinct geometries of their returning assemblies and even when some components appear occluded by others in the acquired images, as is the case in images of toys with moving and detachable parts, and thus verifies the inter-connections of components within the returned toy assembly.

Advantageous Effects of Invention

The present invention has the advantage of providing a solution by which it is possible to determine with a very high precision whether a certain rule characterizing a reference spatial arrangement of the component parts of a returned toy set is met or not, even in cases where such a rule can be met in a large variety or even an infinity of distinct relative positions of the toy set components.

Brief Description of Drawings

The summary of Figures 1...32 accompanying this description is as follows:

- Fig. la and lb respectively are a hypothetical example of a first toy set;

- Each of the groups of three figures, 2a - 2c, 2d - 2f, 2g - 2i and 2j - 21 represents a different spatial arrangement, still equivalent to the reference spatial arrangement given in Fig. la of the first exemplified toy set, in three views from different angles;

- Fig. 3a - 3e is a sequence of movements that must be performed upon the parts of a toy set to move it from one reference arrangement to another reference arrangement;

- Fig. 4 shows a variant of a rigid box which has a cavity adapted to fit inside it the set of two rings of Fig. la, arranged in their coupled state;

- Fig. 5 illustrates the same rigid box of Fig. 4 in which is deposited a toy set like the one in Fig. la, arranged in the coupled state of its two parts;

- Fig. 6 illustrates the same rigid box of Fig. 4, holding a toy set like the one in Fig. la arranged with the two parts decoupled; - Fig. 7 is another rigid box model having an inner profile adapted for a toy set with two distinct reference arrangements, such as the one in Fig. 3a or 3e;

- Fig. 8 is another rigid box model that has an inner profile adapted to return a Smart Egg set;

- Fig. 9 illustrates a self-service apparatus for borrowing and returning toy sets with parts that can take distinct reciprocal positions, in respect to a first embodiment of the present invention;

- Fig. 10 is an isolated view of the transport system for grabbing and storing the toy sets in the storage of the return apparatus of the first embodiment;

- Fig. 11 represents in detail the area of the return compartment of the apparatus of Fig. 9;

- Fig. 12 represents in detail the area of the return compartment of Fig. 11, in which is a rigid checking device in the form of a box for a toy set from Fig. la, with the box lid open and a toy set being returned in a reference arrangement and correctly placed in the inner profile of the box;

- Fig. 13 is similar to Fig. 12, except that the toy set, although complete, is not in the reference arrangement and cannot be arranged in the inner profile of the box;

- Fig. 14 is similar to Fig. 13, except that the returned toy set is not complete;

- Fig. 15 shows a third embodiment of a hiring and returning apparatus for smart toys;

- Fig. 16 shows a portion of the return compartment of the apparatus of Fig. 15, in a detail view of the right side of the apparatus;

- Fig. 17 shows a sixth embodiment of a self-service apparatus for hiring and returning toy sets with moving parts;

- Fig. 18 and 19 are top and bottom views of an optional tray for supporting the toy sets of the sixth embodiment of the apparatus according to Fig. 17;

- Fig. 20 is a view of the apparatus of Fig. 17, equipped with a first variant of a reconfigurable checking device for verifying the returned toy arrangement, in a view with the front door and the return compartment door removed;

- Fig. 21 illustrates in detail the first embodiment of the reconfigurable checking device of Fig. 20 in an operation of lending a toy set of Fig. la;

- Fig. 22 and 23 show semi-profile views from the front and the rear of the same reconfigurable checking device of Fig. 21, in a return operation of atoy set of Fig. la;

- Fig. 24 illustrates a second embodiment of a reconfigurable checking device, compatible with the sixth embodiment of the apparatus according to Fig. 17;

- Fig. 25 represents in isolation athird embodiment of a reconfigurable checking device, compatible with the sixth embodiment of the apparatus according to Fig. 17;

- Fig. 26 is an isolated view of the reconfigurable checking device of Fig. 25 configured to receive a toy set of Fig. la, with the toy set placed on a tray on the carrying sledge, in a return operation;

- Fig. 27 illustrates a fourth embodiment of a reconfigurable checking device compatible with the sixth embodiment of the apparatus according to Fig. 17.

- Fig. 28 is a view of the front upper right comer of a seventh embodiment of a return apparatus according to the invention, which is provided with a machine vision system. - Fig. 29 represents an image acquired with the machine vision system of the apparatus of Fig. 28, showing a hypothetical toy made of three circular rings, with the object occlusion areas highlighted.

- Fig. 30 represents a detail view of the region of the occlusion I from Fig. 29.

- Fig. 31 reproduces an image that can be acquired with the machine vision system of the apparatus of Fig. 28, showing the hypothetical toy from Fig. 29 from a viewpoint in which are visible only four object occlusions.

- Fig. 32 represents a detail view of the region of the occlusion III from Fig. 31.

Detailed Description

In the present description and claims, "toy set with moving component parts that can take distinct reciprocal positions" or "toy set" or “toy assembly” or "toy" shall mean any kind of a toy that comprises at least two moving components that can be placed in at least one reference arrangement of relative positions between them and in at least another arrangement that is not equivalent to the reference arrangement.

"Reference arrangement" means any spatial conformation of the component parts of a toy set, which is characterized by a certain rule that characterizes the reciprocal positions or the inter-coupling relations among the toy components.

An "equivalent" or "compliant" arrangement with a reference arrangement means any spatial arrangement of the component parts of a toy set that meets that characteristic rule of the reference arrangement.

“Non-equivalent” or “non-complianf arrangement means any spatial arrangement of the component parts of the toy set in which the rule that characterizes the reference arrangement is not met, including any arrangement in which at least one of the components of the toy set is deteriorated in shape or is missing from the toy set.

"Rigid checking device" means a mechanical element of the type of a fixed template or of the type of a frame or box optionally provided with a lid, which has at least one cavity with a predetermined fixed shape and dimensions which are adapted to fit a returned toy set inside, only if the toy set is presented for return in a reference arrangement or at least one of the component parts of the toy set is deteriorated in shape or is missing from the toy set.

"Reconfigurable checking device" means a technical assembly comprising mechanical elements that are movable, in each operation to return a toy set, to certain positions so that together they form at least one cavity with a shape and dimensions that are adapted to fit a returned toy set inside only if the toy set is presented in a reference arrangement or at least one of the component parts of the toy set is deteriorated in shape or is missing from the toy set.

"Substantially mechanical checking device" or “mechanical checking device” means any of a rigid or reconfigurable mechanical checking device.

“Machine vision inspection system" means a group of: at least one vision acquiring device such as a photo or video camera or an optical sensor; optionally, an illumination device; and a computer program provided with an algorithm that can determine if the rule characterizing a reference arrangement of a toy set with moving component parts that can take distinct reciprocal positions is fulfilled.

“Verification module” means either a system that comprises a mechanical checking device or a machine vision inspection system.

Fig. la - lb and Fig. 2a - 21 exemplify a very simple hypothetical toy set with moving parts that can take variable relative positions, consisting of just two rings that are inter-coupled as two chain links, which must first be detached from each other and then coupled back. Each ring has a small cut with very close chamfered ends, each cut being small enough not to allow the thickness of the other ring's body to pass through. The simple solution to decouple the two rings is to position the two rings in two planes approximately perpendicular to each other so that the two cuts face each other and then the rings can be pulled one from the other; the re-coupling of the rings will be done by an inverse operation. The spatial arrangement from Fig. la is an arrangement equivalent to the reference arrangement of this toy set, characterized by the rule that the two rings must be interconnected. In more complex toy assemblies, the reference arrangement may be characterized by a more complex rule of the relative positioning of the toy components or by several rules to be met simultaneously, for example a first component of the assembly to be coupled to a second part of the assembly, the second part to be coupled to a third part but the third part not to be coupled directly to the first part. The rule characteristic to the reference arrangement of the two rings of the toy of fig. la, lb and fig. 2a - 21 can be satisfied in an infinity of relative positions of the two rings, the only condition being that the rings be inter-connected, irrespective to the inclinations and spatial displacements between them. Each of the groups of three figures 2a - 2c, 2d - 2f, 2g - 2i and 2j - 21 exemplify distinct spatial arrangements of the two rings, yet all being equivalent to the reference arrangement.

Fig. 3a - 3b represent a simple hypothetical toy that consists of a set of permanently coupled yet moving parts. The purpose is to transform the toy shape from a first reference arrangement in the shape of letter "O" as in fig. 3a, in a second reference arrangement in the shape of the letter "H" as in fig. 3e, and subsequently in inverse order, from the "H" arrangement to the "O" arrangement. The transformation of the assembly between the two shapes is done by successively passing through intermediate positions as in fig. 3b, 3c and 3d, respectively in the inverse order. In this case, there are two distinct reference arrangements, with distinct characterizing rules, both acceptable as initial arrangement for a new use of the toy, so when the toy is returned it must be checked whether it is in one of the "O" or "H" reference arrangements; if the toy is returned in a reference that is different than any of the two reference arrangements, then the toy is ineligible for a new lending.

The method, according to the present invention comprises the steps of: a) logically identifying a toy set with moving parts that can take various reciprocal positions, presented for a return operation, by checking an identifier of said toy set; b) receiving from a user the toy set to be returned, inside a verification module adapted for checking the arrangement of the moving components of the toy set being returned; c) checking, in respect to said verification module, if the reciprocal positions and inter-connection relations among the components of the returned toy set fulfill the rule that defines said reference arrangement of said toy set; d) checking the integrality of said toy set being returned in respect to a reference data corresponding to the reference model of said toy set identified in step a); e) determining the condition of equivalence between the return arrangement of said toy set and a reference arrangement, wherein said condition of equivalence is met if and only if both checks in steps c) and d) have tested positive; f) logically classifying the returned toy set as eligible for a new hiring operation if and only if the result from step e) has determined the equivalence with a reference arrangement; g) storing said returned toy set at a storage address, wherein said storage address is logically correlated with the logical classification of said returned toy’s eligibility for re-lending done at step f.

The verification module used at step b) and c) of the method can be provided either: A) with a mechanical checking device and at least one proximity sensor, for which first case a variant A of the method is presented in this description, or B). a machine vision inspection system, for which second case a variant B of the method is further presented in this description. Several embodiments of return apparatuses that are adapted for applying the variants A and B of the method according to the invention are also presented.

A). The method variant using a mechanical checking device at the steps b) and c):

This method variant A provides that the mechanical checking device:

- either can be selected or reconfigured by the return apparatus, according to the logical identification performed at the step a) at the return operation, and then it can be provided in a return compartment of said apparatus,

- or can be constituted in the form of a portable support of the toy set, which is presented by the user together with the toy set at the return operation.

The mechanical checking devices comprise either a plurality of rigid checking devices or a reconfigurable checking device, each of them being provided with at least one cavity with a profile adapted to fit inside it a toy set that is returned in a reference arrangement. In some embodiments, the mechanical checking devices, either rigid or reconfigurable, are permanently stored in the return apparatus and cannot be retrieved by users. In other embodiments, the toy sets borrowed by users are each provided together with a portable profiled support that also acts as a rigid checking device during a return operation.

In some embodiments, the storage address from step g) of the method may designate a storage space specifically assigned to store a particular model of toy sets in the reference arrangement, or a storage space specifically assigned to store toy sets in non-compliant arrangements. In other embodiments, the storage address from step g) may designate a storage space without a predetermined destination, and the processor of the return apparatus will record in a memory at which storage space each returned toy set can be found, together with attribute of eligibility for a new hiring.

Fig. 4 shows a rigid checking device made in the form of a box 100 comprising a base 110 and a lid 120, each having a cavity 111 and respectively 121 with shapes that can be conjugated with the shape of a toy set of the model shown in Fig. la - lb and 2a - 21 when the toy set is in a reference arrangement.

The base 110 and the lid 120 are coupled to each other by two hinges 130 and can be secured in a closed position by means of a hook 122. A button 112 is provided to release the hook 122 and open the lid 120 that can be biased towards opening by an elastic element (not shown). If the return arrangement of the two rings set is compliant with the two rings set reference arrangement, then the complete set of the two rings may be fitted in the base cavity 110 as shown in Fig. 5; if the return arrangement is not compliant, that is if the two rings are not interconnected, then the set of the two rings cannot fit in the cavity of the base 110 and so they can be possibly placed only partially fitting in the cavity 111, as indicated in Fig. 6 where only one ring is inserted in the cavity 111 and the second ring is placed over the upper face of base 110. In case of returning the two rings set in a compliant arrangement, as in Fig. 5, the lid 120 can be completely closed over the base 110, since the upper part of the toy returning arrangement fits in the lid cavity 121. In case of returning the set of the two rings in a non-compliant arrangement, as in fig. 6, the lid 120 either cannot be completely closed over the base 110 due to the body of at least one of the rings blocking the closing of the base 110 and lid 120, or the cover 120 can be closed if at least one of the rings is not present in the box 100.

Fig. 7 presents an example of a rigid checking device in the form of a box 100 adapted for the toy set from Fig. 3 comprising non detachable yet inter-moving parts which can be passed from a first reference arrangement to a second reference arrangement. The box 100 of Fig. 7 has a base 110 which has a first profiled cavity 113 corresponding to the first reference arrangement, "O", and a second profiled cavity 114 corresponding to the secondary reference arrangement, "H". Each cavity 113 and 114 is provided with a recess 115 and 116, respectively, that facilitate the removal of the toy set from box 100. Box 100 has an optional lid 120 which has no cavity, and which can close over the base 110 only if the returned toy is one of the reference arrangements "O" or "H".

In other embodiments (not illustrated), a box may be provided only with a base, without a lid. If the returned toy set is in a compliant arrangement, it can be fitted inside a profiled cavity of the base so that no portion of it be above the upper face of the base . If the returned toy is not in a reference arrangement, the profile of the cavity forces that at least a portion of the toy remain above the upper face of the base, provided that the returned toy set is complete.

Fig. 8 illustrates another embodiment of a rigid checking device in the form of a box 100, adapted for a toy set of two or more parts whose reference arrangement is characterized by a rule which provides that at least one of the parts is physically detached completely of the rest of the parts of the set, such as the example of a Smart Egg toy that includes an egg-shaped body with an inner three-dimensional maze and a bar with spherical ends that must be traversed from the top to the bottom of the Smart Egg, through the three-dimensional maze. The reference arrangement of the egg and bar composing the toy set is as shown in fig. 8, with the bar detached and laid completely separate from the egg inside the checking device, that is inside box 100.

In all variants of rigid checking devices in the form of boxes 100 as shown in Fig. 4 - 8, the determination of the compliance or non-compliance of the arrangement of a retuning toy set against a reference arrangement of the respective toy set model is made by verifying whether, at the return operation, the toy set can be fitted with all its components within the checking device in a way that allows the checking device to close completely if a lid is present, or not to exceed an allowed height over the box base in case of boxes without a lid. To identify possible situations in which a toy set would have been returned incompletely, without at least one of the component parts, the return apparatus is further provided with an element to check the integrality of the toy set. Preferred embodiments comprise a mass sensor for weighing the box 100 with the toy set being returned and comparing with a reference mass of the assembly of the respective toy set model in a reference arrangement and a corresponding box 100. If the box 100 is closed without enclosing all the parts of the returned toy set so that at least one part of the toy set is deposited over the lid 120, the total mass of the box 100 and the parts of the returned set still corresponds to the reference assembly mass but the positioning of said at least one part above the lid 120 will be detected by another sensor of the return apparatus and thus the state of non-compliance with the reference arrangement will be determined.

Fig. 9 represents a first embodiment of an apparatus 200 for hiring and returning toy sets with moving parts that can take various reciprocal positions, according to the invention, comprising a plurality of models of rigid checking devices in the form of boxes 100 with inner cavities with profiles complementary to the shape of at least one part of a model of a toy set in a reference arrangement. In this embodiment of the apparatus 200, the boxes 100 cannot be extracted from the apparatus during the borrowing operations, but only the toy sets can be extracted from inside the boxes 100.

The apparatus 200 comprises a front door 201 and a storage 210 for storing the boxes 100. The storage 210 has three types of storage spaces: storage spaces 211 provided for boxes 100 closed and containing sets of parts in reference arrangements; storage spaces 212, for boxes 100 empty and closed; storage spaces 213, for boxes 100 containing toy sets in non-compliant arrangements and having the lids 120 either open or closed over an incomplete toy set, possibly with the remaining parts of the set deposited over the lids 120. The storage spaces 211, 212 and 213 have depths that can store one or more boxes 100 and are inclined downwards so that each line of boxes 100 automatically migrates forward to the front edge of the storage space after taking over the first box 100 of that storage space. In other embodiments, the inclination of the storage spaces may be replaced by elements for pushing the lines of boxes 100, for example springs. The storage spaces of types 211, 212 and 213 have a stop lip 214 at the front, which keeps the boxes 100 from the first positions from falling out and have a group of cuts 215 which allow the entry of a profiled grid of a transport system of the boxes 100.

The apparatus 200 comprises a user compartment 220 for borrowing and returning a toy set, and a sledge 230 that carries each box 100 between one of the storage spaces 211, 212, 213 and the user compartment 220. The user compartment 220 has dimensions adapted to prevent the removal of the boxes 100 from the apparatus 200 during the lending operations. Thus, after each lending operation, the boxes 100 are kept in the apparatus 200, empty, in the storage spaces 212 from where they will be retrieved in a return operation. Fig. 10 shows an isolated view of the transport system comprising the sledge 230 along with a box 100 closed. The apparatus 200 further comprises a processor (not shown) and two motors 231 and 232 controlled by said processor and which operate each a guide screw, 234 and 235, for the vertical and horizontal drive of the sledge 230. The sledge 230 comprises a platform 237, a motor 233 coupled to guide screw 236 by two gears 238 and 239 for driving the platform 237 in the direction of the depth of the storage 210. The platform 237 can be moved at any of the storage spaces of type 211 or 212 or 213 to take or store a box 100. The platform 237 has a seating support 240 which has a profile with vertical bars that can penetrate the cuts 215 provided in the storage spaces of types 211, 212 and 213, under the foremost box 100 thereof. The seating support 240 comprises a weighing sensor (not shown in figures) which is connected to the processor. The platform 237 comprises a front stopper 241 and a side stopper 242 provided for keeping the box 100 inside the user compartment 220 during user interactions so that the toy or the box 100 cannot be pushed sideways off the platform 237.

Taking the foremost box 100 from a storage space 211 or 212 is made by moving the platform 237 until it gets under the box 100 to be taken and then by lifting the sledge 230 with the platform 237 until it raises the box 100 above the stop lip 214 of the storage space and then by pulling the platform 237 with the box 100 out of the storage space. Storing a box 100 in one of the storage spaces of type 211, 212, respectively 213 is done in inverse order of movements of the platform 237, with the difference that the forward movement of the platform 237 is made at a lower height so that the box 100 being stored pushes the line of the other boxes 100 forward before being lowered by the platform 237.

The apparatus 200 comprises a user interaction console 250 which is connected to the processor of the apparatus 200, provided for controlling the borrowing and return operations of the toy sets and an optional reader 251 capable of reading QR or RFID codes with which the toy sets are logically identified in the return operations. The apparatus 200 may also be optionally provided with other devices (not shown in the drawings), for example: an interaction interface with an application installed on a user's portable smart device, which can be connected via a data network to the processor of the apparatus 200; payment devices; printer; remote data communication device.

When borrowing a toy set, the user first chooses the desired toy via the console 250 or via an application installed on a user's portable smart device, and the processor controls the movement of the sledge 230 to a storage space of type 211 in which there is a box 100 closed containing a toy set in a reference arrangement. The sledge 230 is positioned so as to take the box 100 from the storage space and transport it to the user compartment 220, until the end of the horizontal stroke of the sledge 230 where the button 112 of the box 100 is thus pressed against a fixed delimiter 221 provided in the form of a side wall in the right inner part of the user compartment 220 and thus causes the lid 120 to open automatically. The user compartment 220 is provided with a sensor 222 that detects when the sledge 230 reaches its stroke end position inside the user compartment 220 and this triggers the processor to command a first actuator (not shown in the drawings) to open a front door 223 of the user compartment 220 to allow physical access to the user's hand inside the user compartment 220 to retrieve the toy set from the box 100 already open. After taking the toy set from box 100, the mass reported to the processor by the mass sensor in the seating support 240 is the mass of the empty box 100, and when this value is detected, the computer commands the closing of the front door 223. The user compartment 220 has a second actuator 224 which is commanded by the processor 200 to push from behind the lid 120 of the empty box 100 to close it over the base 110 immediately after closing the front door 223. A proximity sensor 225 provided in the user compartment 220 confirms the complete closure of the box 100. The processor then controls the mov of the sledge 230 with the empty box 100 to a storage space 212. When returning a toy set, the user presents to the apparatus 200 an identification code of the toy set to be returned, either by reading at the optional reader 251 an RFID or QR code marked on one of the components of the toy set to be returned, or by manually entering a code through the user interface 250, or by an application on a user's portable smart device. Upon receipt of the identifier of the toy set to be returned, the processor commands the sledge 230 to move to a storage space of type 212 from where it retrieves an empty, closed box 100 of the model corresponding to the model of the toy set to be returned and then transports it to user compartment 220 until it reaches the end of the stroke, where the button 212 of the box 100 is automatically pressed by the fixed stop 221 and thus causes the lid 120 of the box 100 to open. When the sensor 222 confirms that the sledge 230 has reached the end of the stroke, the processor commands the opening of the door 223 of the user compartment 220. From this moment, the user can deposit the toy set inside the box 100 within a predetermined maximum time interval, for example 30 seconds. If the user succeeds to fit the integral toy set in the cavity or cavities of the box 100, as shown in fig. 12, the user can manually close the box 100. The proximity sensor 225 detects if, after closing the box 100, any part of the returned toy set is deposited above its lid 120, as exemplified in Fig. 14, which would be equivalent to the fact that the returned toy set is not in a compliant arrangement even if the box 100 was closed. To cover as wide an area of sensitivity as possible above the lid 120 where parts from the returned set would be eventually placed, the user compartment 220 is also provided with one or two additional proximity sensors, 226, 227. If the user succeeds in closing the box 100 with all the components of the returned set arranged inside the box 100, that is if the first sensor 225 reports the full closing of box 100 and if none of the additional proximity sensors 226 and 227 reports any parts above the box 100 and if a predetermined minimum time interval elapses, for example 5 seconds, during which the mass sensor in the seating support 240 constantly detects the same value of the mass of the group consisting of the box 100 and the parts of the returned toy set which is equal to the known reference mass for the respective group in the reference arrangement, then the processor of the apparatus 200 will order the closing of the door 223 and, if it closes completely, the processor will determine that the returned set set is in a compliant arrangement, respectively that it is eligible for re-lending to users, thus ordering the movement of the sledge 230 supporting the box 100 with the returned toy set to a storage space of type 211. Conversely, if during the predetermined time interval the mass sensor in the seating support 240 constantly detects the same value of the mass of the group of box 100 and any parts of a returned part set, and if any of the sensors 225, 226 and 227 detects either the incomplete closure of the box 100, as exemplified in Fig. 13 in which one of the two rings could not be inserted into the corresponding cavity in the base 110, or the presence of a toy part above the lid 120, as exemplified in Fig. 14, or if the total mass of the group consisting of box 100 and the parts of the returned set is not equal to the known reference mass of that group in the reference arrangement, then the processor determines that the toy is being returned in a non-compliant arrangement and is not eligible for re-lending to users, then the processor commands the closing of the door 223 and the movement of the sledge 230 with the box 100 and the toy set that is in a non-compliant arrangement to a storage space of type 213 suitable for the storage of that toy model, requiring the intervention of a technician to bring that toy set to a compliant arrangement. If the door 223 cannot be closed completely, which can be detected by another proximity or contact sensor (not shown) connected to the processor, the door 223 rises and the user must rearrange the toy so to allow door 223 to close, after which the processor resumes checking the return arrangement conformity.

Keeping the boxes 100 inside the return apparatus is not essential for the method and apparatus according to the invention. In a second embodiment of a device for hiring and returning toy sets (not shown in the drawings), very similar to the apparatus 200 of the first embodiment, a return compartment is provided with dimensions that are slightly larger than those of boxes 100 so that they can be removed from the apparatus during borrowing operations and returned together with the toy set at return operations. In this case, the apparatus does not comprise storage spaces of type 212, the stop 221 and the actuator 224. The method of verifying the conformity of the arrangement of the toy set being returned is the same as in the case of the return apparatus 200 of the first embodiment.

A third embodiment of an apparatus 300 for hiring and returning toys with moving parts is represented in Fig. 15 - 16. Similarly with the apparatus 200, the apparatus 300 comprises a processor (not shown in drawings) a storage 310 provided with storage spaces 311 for closed boxes 100 containing toy sets in reference arrangements and storage spaces 313 for boxes 100 with toy sets returned in non-compliant arrangements; a user compartment 320 provided with a width and a depth that are fixed and slightly larger than the width and depth of the boxes 100 so to permit removing and returning them with the toys inside at borrowing and returning operations, but so not to allow any component part of any returnable toy set to slip between any of the walls of the box 100 and the adjacent user compartment wall; a sledge 330 on which is attached a seating support 340; a user interface 350; an optional code reader 351 . The sledge 330 is equipped with a weighing sensor (not shown in the drawings) to check the integrality of an assembly of a toy and a corresponding box 100 deposited on the seating support 340. The apparatus 300 further comprises a drum 360 which can be slid vertically by a guide screw 361 driven by a motor 362, as illustrated in Fig. 16 in a rupture view through the right wall of the apparatus 300 that shows a cassette 100 partly inserted in the user compartment 320. The drum 360 is equipped, on its bottom side, with a proximity sensor (not shown) which signals the proximity or touch between the lower face of the drum 360 and an object deposited in the user compartment 320 in a return operation. In the idle state of the apparatus 300, the drum 360 is lowered to a height at which it ensures the complete closing of the front window of the user compartment 320.

In a return operation to an apparatus 300 according to the third embodiment, after identifying the model of the toy and of the corresponding box 100 to be returned through the user interface 350 or through the optional reader 351 or through a user’s mobile device application, the processor commands the movement of the sledge 330 to the user compartment 320 and commands the motor 362 to lift the drum 360 to the upper end of its stroke, then the user enters the assembly consisting of the box 100 and the toy set to be returned into the user compartment 320, placing the assembly on the seating support 340 of sledge 330. The processor then controls the lowering of the drum 360 until the proximity sensor at its bottom detects the assembly of box 100 and toy, then the processor calculates the height difference at which the lower horizontal face of the drum 360 stopped from the seating plane of the seating support 340. If this height difference is equal to a reference height of a box 100 of the same model as the one returned, in closed position, and if the mass of the assembly consisting of box 100 and the toy corresponds to the reference mass of a set of the same model in a reference arrangement, then the processor determines that the returned toy set is implicitly in a reference arrangement; otherwise, the processor determines that the returned toy is in a non-compliant arrangement. In other embodiments, the drum 360 could be operated in another direction than the vertical one, and the user compartment 320 would in those cases have fixed dimensions in the other two orthogonal directions than the sliding direction of the drum 360.

The embodiment of the apparatus 300 has the advantage that it is also usable for models of toys that are delivered in boxes 100 of different heights, case in which the apparatus 300 has access to a memory where are stored all reference heights of the distinct models of assemblies made of a toy and a corresponding box 100, in order to check the height at which drum 360 stops at each return operation.

A fourth embodiment of an apparatus for hiring and returning toys (not shown in the drawings) is suitable for the use of boxes 100 all having the same external dimensions. The return apparatus according to the fourth embodiment is provided with the same elements as those of the apparatus 300 of the third embodiment, except for the assembly consisting of the drum 360 and the proximity sensor at its bottom in place of which are provided two separate user compartments for returning the toy sets: a first return compartment is intended for returning closed boxes 100 and has the shape and dimensions of width, height and depth adapted to allow the introduction of a closed box 100 so to create only very small gaps between the box 100 and the surrounding walls of the first return compartment so that there is not enough space for slipping any part of the toy set being returned between any of the walls of the box 100 and the walls or closing door of the first return compartment; a second return compartment having at least one of the dimensions of width, height or depth significantly larger than the corresponding size of a box 100 closed, so that it is possible to insert either a box 100 open, or a box 100 closed plus at least one of the toy parts to be allowed to be arranged above or next to the closed box 100. The transport sledge is equipped in this embodiment too with a weight sensor. In a return operation, the processor determines whether the assembly of box 100 and the toy is completely inserted into the first return compartment by confirming the complete closing of the first return compartment door and by comparing the mass of this assembly with the mass of a reference assembly of the same model and if both conditions are met then the processor confirms the reference arrangement of the returned toy set. Otherwise, if the return is made through the second return compartment or through the first compartment but the mass of the assembly measured in the first return compartment differs from the reference mass of a reference assembly of the identified model, then the processor determines that the returned toy set is in a non-compliant arrangement.

A fifth embodiment of a return apparatus (not shown in the drawings) is similar to the fourth embodiment with the difference that instead of two return compartments the device is provided with a single return compartment with a front door and having the shape and dimensions of width, height and depth adapted to allow the insertion with only a small gap on each side of a box 100 closed, so that there is not enough space to slip a piece of the returned toy set between any of the walls of the box 100 and the walls or front door of the return compartment. The assembly consisting of a complete toy set that is being returned and a corresponding box 100 closed can be deposited in a single phase in the return compartment so as to allow its door to close completely only if the toy set is either in a reference arrangement and arranged integrally inside box 100, or in an incomplete arrangement placed inside box 100. Returning a complete toy set but in a non-compliant arrangement can be done in two or more phases successively, where in each phase one or more component parts of the toy set and the closed box 100 are inserted in the return compartment. The phases of the return operation can be controlled by the user through the user interface; at each stage of depositing parts of the toy set and the box 100, the sledge either transports the returned components to the storage to a storage space for non-compliant arrangements, or after each phase the sledge descends a certain distance to make room for more components to be deposited in the next phase above the assembly parts and the case 100 already deposited in the previous phases.

Fig. 17 shows a sixth embodiment of an apparatus 400 for hiring and returning toy sets with moving components, which may be provided with one of several variants of a reconfigurable checking device aimed to verify the return arrangement of the toy sets. The apparatus 400 comprises a front door 401, a storage 410 with two types of storage spaces, type 411 for toy sets returned in reference arrangements and type 413 for toy sets returned in non-compliant arrangements. In both types of storage 411 and 413, the toy sets are each deposited on a tray 500 (Fig. 18 - 19), preferably all identical to each other. The apparatus 400 is equipped with a processor (not shown in figures) and with a transport system on the three orthogonal axes, similar to the transport systems of apparatuses 200 and 300 presented above. Apparatus 400 comprises a sledge 430 which can be moved in horizontal and vertical directions, the sledge 430 comprising a platform 437 which can be driven in translational motion in the direction of the depth of the apparatus 400 for picking up and storing trays 500 with toy sets from and in the storage 410. The storage spaces of types 411 and 413 have a lip 414 at the front for preventing the trays 500 with the toy sets from falling out and have recesses 415 for allowing a profiled grid of the platform 437 to lift or store a tray 500 holding with a toy set. The toys are borrowed and returned through a user compartment 420 with a door 423 actuated by an actuator and whose closing can be confirmed by a proximity sensor (not shown in drawings) controlled by the processor of the apparatus 400. The platform 437 has a support 440 to sustain the tray 500. The support 440 is coupled to the platform 437 by means of a weighing sensor (not shown graphically) provided to check the integrality of the toy set deposited on the support 440. The support 440 may be also provided with a bolt 443 which can be moved vertically by an actuator (not shown graphically) controlled by the processor, to enter or exit a hole 504 at the bottom of the trays 500. The apparatus 400 comprises a user interaction interface 450 and, optionally, a code reader 451 for identifying each toy set to be returned, preferably by an RFID or QR code.

Tray 500 comprises: an edge 501 provided to prevent the toy to slip off the tray 500 during the transport on the sledge 430 or during storage in the storage 410; two recesses 502 and 503 for guiding the tray 500 when stacked vertically in an optional tray magazine 470 of the apparatus 400 (provided only in the embodiment in which the trays 500 are also provided); a hole 504 on the underside of the tray 500, through which it can be driven by the bolt 443 of the support 440 when the tray 500 needs to be removed from the tray magazine 470. Fig. 20 shows the apparatus 400 provided with a first variant of a reconfigurable checking device 600. The apparatus 400 is illustrated with the front door 401 suppressed and with the sledge 430 in the user compartment 420, in an operation of lending a toy set. The vertical magazine 470 for stacking empty trays 500 has an upper window 471 provided for receiving the platform 437 when depositing an empty tray 500 in the magazine 470.

On a toy lending operation, the platform 437 grabs a tray 500 with a toy set deposited on it from a storage space 411 hosting the toy model chosen by the user and carries them in the user compartment 420 which has dimensions adapted so that it does not allow the extraction of the tray 500 from the user compartment 420. The sledge 430 enters the user compartment 420 by a move to the right until it gets under the area of the reconfigurable checking device, then it is raised until the platform 437 supporting the tray 500 with the toy set to be lent reached the level of the user compartment 420 and then the processor of the apparatus 400 commands the opening of the door 423. Fig. 21 shows in detail the reconfigurable checking device 600 together with the sledge 430 supporting a tray 500 with a toy set, in the position of the sledge 430 in the user compartment 420 in a lending operation.

The reconfigurable checking device 600 comprises a housing 601 which limits the user's access to the side or rear areas of the user compartment 420, optionally a proximity sensor 602 for detecting the placement of an object at certain height above the support 440 in a return operation, and a twin assembly 603 for recirculating a plurality of pairs of lamellar semi-templates. After the toy set is taken by the user, the sledge 430 withdraws from the user compartment 420 and deposits the empty tray 500 in the vertical magazine 470 through the upper window 471 where the sledge 430 descends with the tray 500 until the recesses 502 and 503 frame two guide rails 472 provided in the vertical magazine 470, after which the sledge 430 withdraws from under the tray 500 and this latter falls freely over the stack of the other trays 500 already accumulated in the vertical magazine 470.

The sledge 430 can optionally include two mass sensors 444a and 444b intended to check the masses of the pair of semi-templates selected for the current return operation, for a double-checking of the total mass of the returned toy assembly, in cases where a component or more are not positioned correctly in the provided profile of the selected semi-templates but just laid on their upper faces.

Fig. 22 - 23 represent in detail the reconfigurable checking device 600 in an operation of returning, in views from semi-profile - front, respectively from semi-profile - rear. The reconfigurable checking device 600 comprises two groups 604a and 604b of semi-templates paired one from the group 604a with one from the group 604b, semi-templates which are coupled and moving around two frames 605a and 605b, respectively. To avoid agglomerating the drawings, Fig. 21 - 23 exemplify only a part of the semi-templates of each group 604a and 604b. The checking device 600 is provided with two indexing motors 606a and 606b, which are controlled by the processor of the apparatus 400 and which have the role of sequentially releasing a pair of semi-templates from the top of the semi-template groups 604a and 604b to allow them to fall freely between the frames 605a and 605b. Each indexing motors 606a and 606b has provided on their shafts a radial finger 607a and respectively 607b, which are positioned below two pairs of side ears 608a-609a and 608b-609b of the semi-templates of groups 604a and respectively 604b. The ears 608a and 609a are arranged on the side edges of the semi-templates in group 604a, in alternating positions so that the ears 608a belong to the odd-indexed semi-templates of the group 604a and are arranged closer to the frame 605a than the ears 609a, and the ears 609a belong to the even-indexed semi-templates of the group 604a and are arranged further from the frame 605a than the ears 608a. The positions of the ears 608b and 609b are similar in the group of semi-templates 604b. For the successive release of the semi-templates from the upper inner area of the template group 604a, the indexing motor 606a is controlled by said processor in successive steps to move the finger 607a between two angular positions, one corresponding to the ears 608a of an odd-indexed semi-template and then to the ear 609a of the next even-index semi-template and vice- versa. The indexing motor 606b is similarly controlled, simultaneously with the motor 606a, so that at all times each semi-template in group 604a is in a symmetrical position with its pairing semi-template in group 604b, relative to the median vertical plane between the frames 605a and 605b. The semi-templates at the bottom of the frames 605a and 605b are driven by two cylindrical drums 610a and 610b in a lifting motion around the frames 605a and 605b to be recirculated in the semi-template groups 604a and 604b. Drums 610a and 610b are rotated by two motors 611a and 611b. The processor of the apparatus 400 monitors which pair of semi-templates is retained by the fingers 607a and 607b and, knowing the sequence of all pairs of semi-templates, calculates how many steps of movement must be made by each indexing motor 606a and 606b to reach the pair of semi-templates to be used to verify the arrangement of the toy set that has been identified in the return operation.

The operation of returning a toy set is done as follows: the user identifies the toy set being returned through the user interface 450 or through the optional code reader 451 or through a mobile device application interfaced with the processor of the apparatus 400. After identifying the toy set, the processor of the apparatus 400 controls the motors 611a and 611b and the indexing motors 606a and 606b to circulate the groups of semi-templates 604a and 604b until the fingers 607a and 607b retain two semi-templates 612a and 612b which correspond to the identified toy set being returned. Then, the processor commands the sledge 430 to move and pick up an empty tray 500 from a lower window 473 of the tray magazine 470, through which the platform 437 can take the first tray 500 from the bottom of the magazine 470. A fixed support 474 of the vertical magazine 470 is provided above the lower window 473, which has recesses complementary to the vertical grilles of the support 440 to allow the platform 437 to enter and the bolt 443 to rise until it enters the hole 504 of the first tray 500 from the bottom side of the vertical magazine 470, making it possible to pull this tray 500 out of the vertical magazine 470 at the same time as retracting the platform 437 from the lower window 473. The processor then commands the sledge 430 to move horizontally to the right, below the user compartment 420 and then upwards until it reaches the level at which it can receive, on the tray 500 that is seated on the support 440, the toy set being returned. After the sledge 430 reaches this position, the processor controls the indexing motors 606a and 606b to make one more angular movement, which has the effect of releasing and dropping the pair of the selected semi templates 612a and 612b until they reach a horizontal plane in which each semi-template 612a and 612b rests on one of the two mass sensors 444a and respectively 444b provided on the front edge of the platform 437 or on this edge itself in embodiments without the optional sensors 444a and 444b. Then the processor commands the opening of the door 423 and the user can deposit the toy set in the template formed by the two semi-templates 612a and 612b and the tray 500, as exemplified in Fig. 22 and 23. The semi-templates 612a and 612b have shapes adapted to allow the toy set to be placed in their cavities in an arrangement in which all the components of the toy press only on the tray 500 on the support 440 if the returned toy set is in a reference arrangement, that is, so that none of the components of the toy set presses on any of the semi templates 612a and 612b with a force higher than a certain predetermined limit, and this is verified by the mass sensors 444a and 444b. If the returned arrangement is not equivalent to a reference arrangement, then the user will either have to deposit the toy set in an incomplete and, therefore, non-compliant arrangement or deposit at least one of the component parts of the set placed partly or completely on at least one of the semi-templates 612a and 612b, which will be detected by at least one of the mass sensors 444a and 444b. To detect situations in which a user would return a toy set in a non-compliant arrangement by depositing some components stacked vertically over one or more other components that are correctly introduced in the profile formed by the cavities of the semi-templates 612a and 612b, as a result of the user eventually trying to avoid activating the mass sensors 444a and 444b, in the preferred embodiments of the apparatus 400 may be optionally provided one or more proximity sensors 602 (Fig. 20), which are arranged above the horizontal plane in which is positioned the pair of semi-templates 612a and 612b selected to check the toy set being returned. After receiving the toy set being returned, the processor determines: 1. by means of the mass sensor between the support 440 and the platform 437, whether the total mass of the returned toy set corresponds to the reference arrangement corresponding to the identified toy code and 2. by means of mass sensors 444a and 444b and of the optional proximity sensors 602, determine whether the toy set is returned in a reference arrangement or in a non-compliant arrangement. The processor then commands the sledge 430 to be lowered to a sufficiently low position below the reconfigurable checking device 600 so that the semi-templates 612a and 612b can fall freely at the bottom of the frames 605a and 605b from where they will later be lifted for recirculation in their groups 604a and 604b by drums 610a and 610b. If the returned toy set is in reference arrangement, the processor commands the sledge 430 to deposit the tray 500 with the returned toy set to a storage space of type 411, otherwise to a storage space of type 413.

Fig. 24 shows a simplified and isolated view of a second embodiment of a reconfigurable checking device 700 with which an apparatus 400 of the sixth embodiment can be equipped, which is similar with the reconfigurable checking device 600 presented above, with the difference that the checking device 700 comprises a single group of templates 704 with whole profiles, which can be circulated around a single frame 705 by a rotor 710. A template 712 from the templates group 704 is represented in Fig. 24 in a position suitable for receiving a toy set to be returned. All templates have one ear, 708 or 709, alternately positioned between the odd-indexed and even-indexed templates, similar with the ears 608a and 609a, respectively 608b and 609b of the semi-templates 604a and 604b of the reconfigurable checking device 600. The templates at the top are retained by a finger of an indexing motor (not shown) similar with the fingers 607a and 607b of the motors 606a and 606b.

Fig. 25-27 represent a third embodiment of a reconfigurable checking device 800 for verifying the return arrangement of a toy set, which can be used in a lending and returning apparatus 400 of Fig. 17. This checking device can be automatically reconfigured by commands received from the processor of the apparatus 400 at each return operation to create a template cavity adapted to the shape and size of the toy set that was identified to be returned. The reconfigurable checking device 800 comprises a housing 801, two subassemblies 802a and 802b provided each with a group of actuators (not shown graphically) and an array 810a and 810b of moving pins which are operated individually by the actuators of subassemblies 802a and 802b so that they can be moved sideways on horizontal direction.

Fig. 26 shows the reconfigurable checking device 800 together with the sledge 430 moved to the user compartment 420 of a return apparatus 400 similar to that of Fig. 17, in an operation of returning a toy set of the same model as the one of Fig. la. The platform 437 holds a tray 500. In order to receive the toy set, after having it identified, the processor commands the actuators in the subassemblies 802a and 802b to move the pins of the pin arrays 810a and 810b in a series of positions that create at least one cavity in the horizontal plane of the pin arrays 810a and 810b, with a shape and size corresponding to a certain part of a reference arrangement of the toy set being returned, as exemplified in Fig. 26. Subassemblies 802a and 802b are provided each with a sensor (not shown graphically), that are intended to determine any additional mass of any part eventually remaining on the upper faces of the matrix pins 810a and / or 810b in a return operation, which would correspond to a situation of detecting a non-compliant return arrangement. Also, the reconfigurable checking device 800 may optionally comprise one or more proximity sensors (not shown graphically) which would have the role of detecting any parts present above a certain maximum permissible height above the upper faces of the matrix pins 810a and / or 810b, which would also correspond to a case of a non-compliant return arrangement.

Fig. 27 shows a simplified and isolated view of another embodiment of a reconfigurable checking device 900 which may be provided as part of an apparatus 400 of the sixth embodiment (Fig. 17). The reconfigurable checking device 900 comprises a two-dimensional matrix 910 of pins vertically movable by actuators (not shown) inside a base 901 of the reconfigurable checking device 900, actuators which are controlled by the processor of the apparatus 400. The reconfigurable checking device 900 may optionally comprise one or more proximity sensors (not shown) provided to detect any parts arranged above a certain maximum permissible height above the tips of the pins of the matrix 910, which would represent to a situation of detecting a non-compliant return arrangement.

In other reconfigurable checking device embodiments, instead of pin arrays, other assemblies with other shapes of moving bodies can be used, which can be re-positioned at each return operation of a toy set, so as to form a cavity with dimensions and shapes corresponding to a reference arrangement of the model of the toy set being returned.

B). The method variant using a machine vision inspection system at the steps b) and c):

The method variant B provides that at step b) the object being returned is placed inside a return compartment provided with a camera or a 3D sensor that are controlled through a machine vision program that is run by a processor of a return apparatus and that at step c) at least one image of the toy set being returned is acquired by the or a 3D sensor at the return operation and then the machine vision program analyzes said at least one acquired image to determine if the reciprocal positions of the components of the toy and the relations of their inter-connections fulfill the rule that characterizes the reference arrangement of the respective toy set model.

Fig. 28 illustrates the upper-right front region of an apparatus 1000. The apparatus 1000 is similar with the apparatus 400 of Fig. 17, except that apparatus 1000 is provided with a vision camera instead of any proximity sensors inside a return compartment 1020. The apparatus 1000 comprises a storage 1010, a transport system (not shown in Fig. 28), a seating support 1040, a user interface 1050 and a tray magazine 1070 that are similar with their homologues, storage 410, transport system, seating support 440, user interface 450 and tray magazine 470 of the apparatus 400. The user compartment 1020 is provided with a door 1060. The tray magazine 1070 stores empty trays 500 as those of Fig. 18 - 19. Optionally, the apparatus 1000 is provided with a code reader 1051 similar to the code reader 451 of the apparatus 400. The vision system comprises a camera 1081 and, optionally, an illumination device (not shown) that, at each return operation, illuminates the inner space of the return compartment 1020 where the returned set is deposited by the user, in a light with a wavelength that is meaningful to the camera 1081. The vision system is provided or interfaced with a machine vision program able to process the acquired images to detect the components of the returned set and to determine their reciprocal positions and inter-connection states.

In order to resolve possible cases of uncertainty during object detection due to inconvenient positioning of the toy set inside the return compartment 1020 in respect to the camera viewpoint, which would not allow to detect all the components of a returned toy set or would not allow to fully detect the reciprocal positioning and inter-connection relations between the toy components, some variants of the apparatus 1000 provide that the vision system comprises at least one additional camera (not shown in figures) placed so to ensure a significantly distinct viewpoint than the camera 1081; other embodiments of apparatus 1000 provide that the seating support 1040 that can rotate around at least one axis while in the return compartment 1020, or that the camera 1081 can be moved at least in one secondary position so that the camera 1081 is able to take images of the returned toy set from at least two different viewpoints.

The components of the toy set, all having known fixed shapes, are previously learnt by the machine vision system through known techniques based either on neuronal network algorithms with supervised learning or through explicit 3D model rendering. Each leamt component is assigned as belonging to a certain toy set model in a reference arrangement, where that component must fulfill a certain rule of relative positioning or inter-connection in respect to at least another component of the same toy set model. Certain component models can be found in one or in more toy models.

On each return operation, at point c) of the method said at least one acquired image is analyzed by the machine vision program to classify each toy component, that is, to match each component with a known component model from a database of component models, then each component is segmented, that is, the machine vision program determines the number of instances of that component in the image in cases where more identical components can be found in a certain toy set.

A preferable embodiment of the variant B of the method according to the invention provides that the logical identification of the toy set being returned, at step a) of the method, is done by the machine vision system detecting at least one component of the returned toy set once the toy set is placed in the return compartment, wherein said at least one component represents a sufficient determinant of the model of the toy set being returned. A corresponding embodiment of an apparatus 1000 for this method embodiment first identifies the user instead of identifying the toy set being returned, through said user interface 1050 or through said optional code reader 1051. This can be useful for cases where a user borrowed two or more toys and, on a return operation, the user identifies himself to the apparatus, so the machine knows to expect the return of tone of the toys borrowed by the respective user, then the user places the toy intended for return in the return compartment 1020, and then the processor identifies precisely the returned toy set by detecting at least one component that is discriminant for that toy model.

Another preferable embodiment of the variant B of the method provides that, at the step c) of the method, once the model of the toy being returned has been identified, the computer vision program begins the search for detecting the components of the identified toy model in a subset of the complete collection of all known components of all known toy models, wherein said subset comprises only the component models that are known to be part of the toy set model identified at the return operation.

Optionally, in order to execute the step d) of the method, instead of using mass sensors to check the integrality of the returned toy set, preferred embodiments of the variant B of the method according to the invention provide that said machine vision program searches to identify, in the at least one acquired image, every component part that is previously leamt to be part of the toy model that was identified at the step a) of the method, so to determine if the returned toy set is complete.

In most of the cases, in images acquired from a certain camera viewpoint, some components of a toy set being returned appear occluded by other components. Techniques of detecting object even in scenes with object occlusions have been developed in recent years. In case of static image analysis, such techniques are possible for objects that are partially occluded by other objects, such that at least one determinant attribute of the occluded object can be still identified so that the computer vision program is able to predict with an acceptable precision that there is an occluded object of a certain class of objects that are compatible with the at least one determinant attribute identified. In cases where some objects that are expected to be detected in an image acquired from a first viewpoint are actually not visible at all, not even partly, at least a subsequent image, acquired from a distinct viewpoint is necessary to analyze to determine if expected objects do exist in the scene.

Occlusion detection can be made by analyzing the contours or colors or gradients or other attributes of the objects in the scene.

Next are exemplified two techniques that can be implemented in the variant B of the method: a deterministic technique, which analyzes object occlusion preferably through contour lines intersections; a probabilistic technique, based on computer learning of compliant and of uncompliant reciprocal positioning and inter-connection relations among the components of each toy.

The toy set shown in Fig. 29 and Fig. 31 is similar with the toy of Fig. 1, with two significant differences: 1) the toy of Fig. 29 and Fig. 31 comprises three rings, Rl, R2 and R3; 2) the reference arrangement of the toy of Fig. 29 and Fig. 31 is characterized by a rule that states that each ring must be passed through both the other rings. Fig. 29 and Fig. 31 show two distinct images, which can be possibly acquired by a camera 1081 of the apparatus 1000 in two distinct return operations of the same toy model. The image of Fig. 29 represents atoy set being returned in a reference arrangement, while the image of Fig. 31 represents a toy set of the same model but being returned in non -compliant arrangement, as the rings R2 and R3 are not inter-connected.

In Fig. 29, there are 6 occlusions marked I - VI, each being created by only a pair of rings, for instance occlusion I is made by the pair of R1 and R2, occlusion II is made by the pair R2 and R3 etc.

We define the grade of an occlusion by the number of parts that are involved in that occlusion. Thus, all six occlusions in Fig. 29 are grade-2 occlusions, each affecting a pair of rings; Fig. 31 comprises three grade-2 occlusions and one grade-3 occlusion that is made by all three rings.

Any occlusion comprises an occludent object, that is the object that appears in fore position in respect to the camera viewpoint, and at least one occluded object. Thus, in a grade-2 occlusion it is precisely derived which is the occludent and which is the occluded object. In a grade-3 or higher occlusion, the top occludent object is precisely determined as the one having its contour lines uninterrupted by any contour line of other objects; however, it is further needed to determine the order of the other objects in the depth, beyond the closest object in respect to the camera viewpoint, that is, to determine whether the second object occludes the third object or vice-versa.

The deterministic technique of the variant B of the method according to the invention accomplishes this task by analyzing certain attributes of the occlusion that result as values of a function that reflects how line contours of toy parts appear related to one another in each acquired image of the toy set being returned.

Each toy component that is detected in an image appears with a contour made of one or more contour lines. Occlusions created by two or more parts are determined and classified by the machine vision program based on how the contour lines of the parts that participate in the occlusion intersect each other. If a contour line of a first object appears to traverse above the contour line of a second object in a region of the acquired image of the toy set being returned, that is if the respective contour line of the second object appears to be interrupted by the contour line of the first object in that region of the image, then it means that: 1. there is an occlusion between the two objects in the region in question and 2. the first object is the occludent one and the second object is the occluded one.

In the detail of the occlusion I from Fig. 30, the contour lines of the rings R1 and R2 are marked Cll and C12, respectively C21 and C22. In the area of the occlusion I, the contour lines C21 and C22 of the ring R2 are interrupted by the two contour lines Cll and C12 of the ring Rl. Hence, occlusion I is detected, with the ring Rl having its contour lines uninterrupted, therefore being the occludent object, and with the ring R2 having its contour lines interrupted, therefore being the occluded object. Thus, the following attributes of occlusion I have been determined: it is an order-2 occlusion; it is made between the rings Rl and R2; the ring Rl is occludent for the ring R2. In the same manner, the attributes of the other five occlusions, II - VI, from Fig. 29 are analyzed. Each occlusion is analyzed only in respect to the objects that are part of it.

We define the occlusion function Ok(ί, j), which takes one of the following values:

+1, if objects i and j participate in the occlusion K and if object i is occludent for the object j in the occlusion K;

-1, if objects i and j participate in the occlusion K and if object j is occludent for the object i in the occlusion K;

0, if at least one of the objects i and j does not participate in the occlusion K, where:

K e {I, II, ... N}, N being the number of detected occlusions in the acquired image; in the case of the toy of Fig. 29, K e {I, II, ... VI}. and i, j e {1, ... m}, where m is the number of moving parts of a toy set; in the case of the toy of Fig. 29 and 31, i andj e {1, 2, 3}.

To be noted that O _K (i, j) = - O _K (j, i).

Applying this function to the 6 occlusions of Fig. 29, we obtain the values given in Table 1:

Table 1:

The reference arrangement is defined by the rule that each two rings must be interconnected, that is, for each pair of rings there must be exactly two occlusions, one of value +1 and one of value -1.

If, at a return operation of a toy set of the model from Fig. 29, the viewpoint of camera 1081 allows viewing 6 distinct occlusions as in Fig. 29, then the machine vision program computes the matrix from Table 1 and if each of the three rightmost columns O _K (R1, R2), O _K (R2, R3) and O _K (R3, Rl) contains exactly one value of + 1 and one value of -1, then the step c) of the variant B of the method derives that the return arrangement is equivalent to the reference arrangement.

In the example of Fig. 31, since the occlusion III comprises all three rings Rl, R2 and R3, the machine vision program must determine the values of the occlusion function for each pair of rings present in the occlusion III, provided that the acquired image contains sufficient visible information about how the three rings’ contours intersect in the region of the occlusion III. Fig. 32 shows a detail view of the occlusion III where it is visible that: the contour lines Cll and C12 are not interrupted by other objects’ contour lines, therefore the ring Rl is occludent for the others; the contour lines C31 and C32 are interrupted twice, only by the lines Cll and C12, therefore the ring R3 comes immediately after the ring Rl in the occlusion III; the contour line C21 is interrupted once by the line C12 and once by the line C32, and the contour line C22 is interrupted once by the line C31 and once by the line Cll, therefore the ring R2 is occluded by both rings Rl and R3, that is, the ring R2 is the furthest from the camera viewpoint. The complete determination of the occlusion function values for all the four occlusions of Fig. 31 are presented in Table 2: Table 2:

Since the series of values of the function O _K (R2, R3) do not satisfy the given rule, namely that column O _K (R2, R3) does not contain exactly a value of + 1 and a value of -1, at the point c) of the variant B of the method, it is derived that the return arrangement is not compliant. If, for instance, the order of the rings R2 and R3 in the occlusion II were inverse than that in Fig. 31, that is if in occlusion II the ring R2 appeared above the ring R3 and if all the positions in the other occlusions I, III and IV stayed the same as in Fig. 31, then the value of On(R2, R3) would be +1 and therefore the return arrangement would be classified as compliant.

If the acquired image were not conclusive in respect to how the contours of the three rings intersect in the region of the occlusion III, then the occlusion function values would be determined only for two of the three pairs: since R1 is occludent for R2 and R3, it is sure that Om(Rl, R2) = -1 and Om(Rl, R3) = +1 but there is no information on the value of Om(R2, R3). In such a case, a supplementary image from a different camera viewpoint would be necessary to be analyzed, which would unveil the occlusion function value Om(R2, R3).

The probabilistic technique for applying the variant B of the method provides that for each toy set model the machine vision program leams to distinguish with certain probability if a certain arrangement is equivalent or not with a reference arrangement. The learning is made through two phases: 1. an initial supervised learning, where for each toy model there are recorded preferably big numbers of images acquired in many distinct arrangements, for each of them assigning an attribute that states whether the respective arrangement is classified as compliant or as not-compliant with the reference arrangement; 2. an optional yet recommended phase, where at least some of the new images acquired during the use of the apparatus in real operations are further used to be added to the initially learnt image collection to optimize the probabilities of arrangement conformity classification.

For instance, applying the first phase on the toy set of Fig. 1-2, the machine vision program will be taught all the images of Fig. la-lb and of Fig. 2a-21, for each of them with an attribute saying that: the arrangements from figures la, 2a 2c, 2d, 2g, 2h, 2j and 2k have a probability of 100% of compliance; the arrangements from figures lb and 2f have a probability of 0% of compliance; the arrangements from figures 2b, 2e, 2i and 21 have a probability of 50% of compliance. Then, in a normal return operation, at least one acquired image is compared with the set of pre-leamt images through a neural network algorithm implemented in the machine vision program, and the output of the algorithm will be a probability of the return arrangement captured in the acquired image of the current operation being equivalent or not equivalent with the reference arrangement. Certain acceptability thresholds can be set for the classification, for instance any result up to 30% probability of reference compliance shall be classified as non -compliant, any result of minimum 65% probability of reference compliance shall be classified as compliant and any result between 30% and 65% shall be considered inconclusive, necessitating further analysis. The higher the number of initially pre-leamt images with attributed probabilities of arrangement compliance, the better (more conclusive) the probabilities returned by the computer vision algorithm at each return operation.

During the exploiting of the apparatus, all acquired images are further recorded together with the compliance probabilities that were computed during the return operations in which the respective images were acquired. Based on feed-back from users or technicians, who can retrieve certain returned and re- stored toy sets in states that eventually do not comply with the states determined by the probabilities computed by the machine vision algorithm in the return operations of those toys, the attributes pertaining to the images correlated with the respective toy sets found inconsistently classified are adjusted accordingly, thus refining the database of the learnt arrangements. Thus, the machine vision program efficiency is optimized. For instance, if a technician finds a returned toy which is not in a compliant arrangement, although the toy was classified by the machine vision algorithm in the last return operation as being compliant, the technician can modify data as to override the computed probability values assigned to the images acquired during the last return of that toy, to assign a probability value of 0% of reference compliance for the actual returned arrangement.