WO2013059423A1 - Foldable cart with tracking arrangement - Google Patents

Foldable cart with tracking arrangement Download PDF

Info

Publication number
WO2013059423A1
WO2013059423A1 PCT/US2012/060766 US2012060766W WO2013059423A1 WO 2013059423 A1 WO2013059423 A1 WO 2013059423A1 US 2012060766 W US2012060766 W US 2012060766W WO 2013059423 A1 WO2013059423 A1 WO 2013059423A1
Authority
WO
WIPO (PCT)
Prior art keywords
cart assembly
user
ultrasound
cart
recited
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2012/060766
Other languages
French (fr)
Inventor
Jian Zhang
Chunghsin Lee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FTR SYSTEMS Inc
Original Assignee
FTR SYSTEMS Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FTR SYSTEMS Inc filed Critical FTR SYSTEMS Inc
Priority to EP12842420.7A priority Critical patent/EP2768704B1/en
Publication of WO2013059423A1 publication Critical patent/WO2013059423A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2202/00—Indexing codes relating to type or characteristics of transported articles
    • B62B2202/40—Sport articles
    • B62B2202/404—Golf articles, e.g. golfbags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0076—Remotely controlled
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S280/00—Land vehicles
    • Y10S280/05—Motorized golf carts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S280/00—Land vehicles
    • Y10S280/06—Wheeled golf club carriers

Definitions

  • the present invention relates to a motor driven, autonomously directed and controlled, foldable cart assembly which articulates from a fully opened, supportive frame assembly into a compact and carryable mechanism.
  • the lower base frame has the pivot arrangement along a mid-portion thereof, to permit articulation thereof.
  • the front end of the lower base frame has an axle arrangement extending thereacross.
  • a rotatably empowered, independently controlled wheel is arranged at each end of the front end's transverse axle arrangement.
  • Each independently controlled wheel at each end of the transverse axle arrangement is independently controlled by a microprocessor as to each wheel's speed and as to each wheel's independent direction of rotation, by each drive wheel having a computer controlled electronic drive motor thereconnected.
  • a housing arranged supportively on the front end of the lower base frame encloses a control computer, the drive wheels' motor controls, and a power supply unit.
  • the control computer within that housing receives information through a proper circuit, from a multiple sensor arrangement installed within the cart assembly.
  • a generally L-shaped bracket is attached to a midpoint of each of a pair of upwardly directable frame members and extend toward the front end of the cart assembly, and also extend generally parallel to the lower base frame arrangement.
  • Each L-shaped bracket is spaced transversely apart from one another a specific distance, for computational purposes of the computer control unit.
  • These L-shaped brackets include portions of the sensor arrangement within the cart assembly.
  • the ultrasound sensor member component of the multiple sensor arrangement in one preferred embodiment is arranged on/in the cart assembly for example, to detect tracking targets such as the user holding a tracking target device (handset), obstacles including sand pits, water and any sort of travel-blocking entity.
  • a second sensor member such as for example, an RF (radio frequency) sensor member, may also be arranged on/in the cart assembly or for example, in the housing, to function as a timer, to "set the clock" in conjunction with the monitoring of the ultrasound sensor arrangement's responses for following the ultrasound action, for ultrasound control of direction and position through the central processing unit for setting and controlling the cart assembly's direction (path) and speed.
  • Precise tracking of positions of for example, a golfer using this cart arrangement is accomplished by a pair of spaced apart ultrasound sensor transceivers in a phase differential manner, and by the ultrasound sensor array for detection and controlled avoidance of obstacles nearby or crossing the cart assembly's path.
  • the ultrasound sensor arrangement is mounted in the spaced-apart manner on the frame of the cart and interacts with the RF transponder carried in a remote device by the cart's user.
  • These transponders and the RF sensor arrangement continuously triangulate a signal between the cart and the remote device of the cart's user, so as to enable the precise tracking of a user's path by the cart assembly, because the cart's user is carrying the remote transponder.
  • Those ultrasound and RF transponders of the sensor arrangement are in proper electrical communication through a circuit connected with the control computer (CPU) preferably arranged within the housing which is secured at the second end portion of the lower frame member.
  • the multi-sensor arrangement thus enables the cart assembly to autonomously follow the path of, for example, someone leading or someone directing the way, such as for example, on a golf course, with a (remote control) location-transmitting transponder handset device.
  • the transversely separated ultrasound sensors each send and receive a common signal relative to the location transmitting remote transponder device carried for example by a golfer or the like, whereupon the control computer triangulates that differentially received and timed return signal (with the RF sensor) with the target's (transponder) angle, so as to appropriately effect the rotation of the drive wheels, both as to the rotational direction and as to the rotational speed, thereby controlling the path to be taken by the cart assembly.
  • the CPU performs its calculations, it effects the driving of the powered wheels which each have a microprocessor for effecting their respective speed and rotational direction.
  • the ultrasound signal generator arrangement (of the two sensor configuration) is mounted on the cart, and is in communication with the remote carried handset transponder and with the central processing unit (CPU), which CPU is also in communication with the two ultrasound transponders through the CPU.
  • the cart arranged RF transponder provides a trigger time and permits the measure of the time between the return signals of the ultrasound transponders, so as to provide the basis of the CPU to instruct the independently empowered drive wheels as to direction of rotation and to speed of rotation.
  • the ultrasound signal communication arrangement detects tracking targets, obstacles, water, sand traps, blockages, and they also provide a measurement of distance to an item.
  • the CPU Based upon the travel time and sound speed, the CPU continuously calculates the path and the distance between the remote device carried by the cart's user and the sensor on the cart, using triangulation, the distance and direction between the cart and the cart user (i.e. golf player) may be determined, and provides proper instructions to be transmitted to the microprocessor controlled drive wheels, to properly maneuver the cart on the field of play to follow the user's path or follow the user's inputted RF instructions into the control handset for a path for the cart to follow.
  • the distance and direction between the cart and the cart user i.e. golf player
  • the control algorithm is based on that feedback from the sensors.
  • the CPU keeps track of the player's walking path. For short distances, the CPU instructs the cart to closely follow the player's walking path. For longer distances, the CPU may provide commands to go to the player on a shorter path, and to follow the player within a proper distance.
  • the combined RF and ultrasound sensor arrangement thus provides proper feedback to the control computer (central processing unit-CPU) so that the control computer may also further control the direction of rotation and speed of each individual drive wheel so as to avoid obstructions in the path of the card assembly, yet still properly follow the location transmitting device through a non-linear path, if need be.
  • the modes of operation of the system of the present invention comprise: constant communication with user, the following of person "1" (user), and the trajectory followed, so the cart will avoid obstacles and not stray into the wrong territory, such as a pond, a tree or the like where the user would not have walked/travelled.
  • ultrasonic range finding is use of ultrasound is also called sonar (sound navigation and ranging). This works similarly to radar (radio detection and ranging): An ultrasonic pulse is generated in a particular direction. If there is an object in the path of this pulse, part or all of the pulse will be reflected back to the transmitter as an echo and can be detected through the receiver path. By measuring the difference in time between the pulse being transmitted and the echo being received, it is thus possible to determine how far away the object is.
  • the remote device may be instructed to send the cart towards the next position by manual input of movement directions or instructions to be undertaken in real time as the cart is moving, by input means into the remote device from the user/holder of the remote device to the RF transceiver on the cart. It is to be noted that the cart may also become a push cart when the power is turned off.
  • the invention thus comprises a foldable four wheeled load carryable cart assembly system comprising: an elongated lower base frame arrangement having a set of wheels on a first half-end thereof, and a set of empowered computer controlled drive wheels on a second half-end thereof; a plurality of pivotable frame portions extending from one side of the second half end, wherein the first half end and the second half end of the lower base frame arrangement is foldable about a generally centrally located pivot axis thereon, and the plurality of pivotable frame portions are foldable about a set of intermediate spaced-apart pivot axes to permit the cart assembly to be folded into a compact hand-carryable configuration; and wherein the cart assembly system includes a wireless user- tracking arrangement thereon, and wherein the wireless user-tracking arrangement electronically instructs an onboard central processing unit computer to control the empowered drive wheels as to rotational direction and rotational speed, to permit the cart assembly to track and follow movement of a system's user during a user's path of motion.
  • the system includes a user-carryable wireless transponder for transmitting wireless signals about a user's location to the wireless user-tracking arrangement on the cart assembly.
  • the tracking arrangement includes a pair ultrasound transponders arranged to communicate positional signals with the user-carryable wireless transponder.
  • the tracking arrangement includes a radio frequency transceiver for providing timing for ultrasound signals utilized by the central processing unit computer in the cart assembly.
  • the ultrasound sensor arrangement transmits obstacle-avoiding signals to the central processing unit computer for the cart assembly to avoid obstacles in the path of the cart assembly.
  • the ultrasound sensors are supported in a horizontally spaced-apart configuration on one set of frame portions to provide communicated-signal triangulation capability to the onboard central processing unit computer.
  • An independent drive motor is arranged for each drive wheel of the cart assembly.
  • the invention also includes a process for controlling the track, speed and direction of a collapsably foldable, central processor unit controlled, electronically motorized, individual drive wheeled, cart assembly system for use by a cart assembly user in a field of play, comprising: arranging a pair of spaced-apart wireless ultrasound transponders on a frame portion of the cart assembly; providing a carryable wireless location ultrasound transceiver device to a user of the cart assembly; sending a pair of corresponding ultrasound signals from the ultrasound transponders on the cart assembly to and receiving returned back ultrasound signals from the location transceiver device carried by a user; timing the pair of received ultrasound signals received back to the cart assembly by an onboard RF transponder; communicating the signals received by the ultrasound transponder and the RF transponder to the central processing unit computer; and triangulating the signals so as to govern the electronic instructions to the individual drive wheels for the cart assembly to follow the user carrying the transponder device.
  • the method includes: sensing motion and direction of a remote device carried by a user of the system; instructing drive wheels on the cart pursuant to sensed direction, speed and distance of the user carrying the remote device; operating the carryable device as a remote control to instruct the cart assembly to a user- desired site.
  • the instruction to the individual drive wheels from the central processing unit is different for each wheel.
  • the instruction to the individual drive wheels includes an instruction to rotate at different speed from one another.
  • the instruction to the individual drive wheels may include an instruction to rotate at different direction from one another.
  • the invention also comprises a collapsible wheeled load carryable autonomously mobile cart assembly system comprising: an articulable lower frame having at least two independently empowered drive wheels thereon; an articulable upper frame, with a first and a second sensor transponder arrangement thereon; and a central processing unit on the cart assembly to instruct the empowered drive wheels as to rotational requirements upon receipt of the central processing unit receiving time, direction and distance information from the first and second sensor transponder arrangement; a user carryable handset for receiving and for transmitting position signals with respect to the user and the cart assembly, wherein the first sensor arrangement consists of a pair of spaced apart ultrasound signal trasnponders for communication with an ultrasound transponder in the carryable handset.
  • the first sensor arrangement consists of an RF signal transponder in communication with an RF transponder on the carryable handset.
  • the RF signal transponder in the cart assembly provides a time stamp instruction to the ultrasound signals communicated to the central processing unit in the cart assembly.
  • Figure 1 is a perspective view of the tracking foldable cart assembly in an open and unloaded configuration
  • FIG. 2 is a schematic representation of the control system for the cart and the remote device held/carried by the cart's user;
  • Figure 3 is a flow chart relative to the schematic shown in figure 2;
  • Figure 4 is a depiction of the circuit for the movement control module
  • Figure 5 is a depiction of the circuit for the sensor control module
  • Figure 6 is a representation of the circuit of the power voltage regulator module; and Figure 7 is a representation of the cart assembly tracking and following a user along the user's path.
  • the present invention which comprises a computer controlled, motor driven, autonomous, directed and controlled, foldable cart assembly 10 which articulates from a fully opened, supportive frame assembly into a compact and carryable mechanism which in one preferred embodiment could be stored for example, as a "carry on” for storage, for example, in an overhead bin in an airliner, within a linear length of about 45 inches, as shown more closely, in the figures of our separate corresponding patent application, Foldablecart-lONonProv, incorporated herein by reference in its entirety.
  • the foldable cart assembly 10 of the present invention comprises a lower base frame 12 of aluminum or magnesium aluminum alloys having a first end 14 and a second end 16.
  • the lower base frame 12 in a first embodiment comprises a rail arrangement extending longitudinally from the first end 14 to the second end 16 with a collapse pivot arrangement 22 at a midpoint thereof, as may be seen in figure 1.
  • a transverse axle member 18 extends across the first end 14 of the lower base frame 12.
  • a free wheeling coaster wheel 20 is pivotally supported at each end of the front transverse axle member 18.
  • the lower base frame 12 has the pivot arrangement 22 along a mid-portion thereof, to enable articulated collapsible-carry of the cart assembly 10.
  • the second end of the lower base frame 16 has an axle arrangement 24 extending thereacross.
  • a rotatably empowered, independently controlled wheel 37 is arranged at each end of the second end's transverse axle arrangement 24, as shown and described in our separate patent application, incorporated herein by reference in its entirety.
  • Each independently controlled wheel 37 at each end of the transverse axle arrangement 24 is independently controlled by a microprocessor 39 being controlled by the central processing unit computer arrangement 30, (CPU - represented in figure 2), as to each wheel's speed and as to each wheel's independent direction of rotation, by each drive wheel 37 having its own computer controlled electronic drive motor.
  • a housing 28 arranged supportively on the second end 16 of the lower base frame 12 encloses the control computer CPU arrangement 30, the drive wheels' motor controls, and a power supply unit, as represented in figures 2, 3, 4, 5 and 6.
  • the control computer arrangement 30 within that housing 28 receives information through a proper circuit 33, from a combinational sensor arrangement (UT1 & UT2) 32 and (RF 1) 54, installed within the cart assembly 10, as represented in figure 3.
  • a generally L-shaped bracket 50 is attached to a midpoint of each of the upwardly directable mid-frame members 34 and extend toward the second end 16 of the cart assembly 10, and generally parallel to the lower base frame arrangement 12. Each L-shaped bracket 50 is spaced transversely apart from one another a specific distance, for computational purposes of the computer control unit 30. These L-shaped brackets 50 include the ultrasound transponder portions of the sensor arrangement 32 within the cart assembly 10. Each L-shaped bracket 50 has its distal end with the first ultrasound transponder 32 of the combined sensor arrangement (32 and 54), as represented in figure 2.
  • the second sensor member 54 such as for example, a radio frequency tramnsponder/generator (RF) may also be arranged on/in the cart assembly 10 or for example, in the housing 28, for functioning as a timer or "clock" for the ultrasound transponders (UT1 and UT2) 32.
  • RF radio frequency tramnsponder/generator
  • the microcomputer 30 can keep track of the player's "G" walking path "P", represented in figure 7.
  • the microprocessor 30 provides instructions to the independent microprocessor 39 controlled and motor 24 driven wheels 37 to follow the golfer "G" almost exactly.
  • the microcomputer may provide instructions to the wheels 37 to follow a shorter path, all based upon feedback into the control algorithm from the sensors 32 and 54.
  • the ultrasound sensors (UT1 & UT2) 32 in a phase differential manner.
  • the ultrasound sensor array 32 is utilized for detection and controlled avoidance of obstacles "O" nearby or crossing the cart assembly's path.
  • the RF sensor arrangement 54 is mounted on the cart assembly 10 and interacts via RF signals sent and received with respect to an RF transponder in the remote handset device "T", represented in figures 1 and 2, carried apart from the cart assembly 10 by the cart's user "G", as may be represented in figure 7.
  • the transponder and the RF sensor arrangement continuously triangulates a signal "S", represented in figures 1 and 7, between the cart assembly 10 and the remote handset device "T" of the cart's user, so as to enable the precise establishing and the tracking of a path "P" by the cart assembly 10, of the cart's user "G” carrying the remote transponder "T” as represented in figure 7.
  • first and second ultrasound transponders (UT1 & UT2) 32 of the sensor arrangement are in proper electrical communication through the circuit 33 connected with the control computer (CPU) 30 preferably arranged within the housing 28 which is secured at the second end 16 of the lower frame member 12.
  • the multiple ultrasound sensor arrangement 32 thus enables the cart assembly to autonomously follow the path "P" of for example, someone leading the way, such as for example, on a golf course, with a (remote control) location-transmitting transponder device "T".
  • the transversely separated first UT 1 & UT2 sensors 32 each receive a timed common signal "S" from the location transmitting remote transponder device "T” carried for example by a golfer "G” or the like, whereupon the control computer CPU 30 triangulates that differentially received and timed (through the RF sensors time stamping) signal with the target's (transponder) angle, so as to appropriately effect the individually different rotation of the drive wheels 37, both as to rotational direction and as to rotational speed, thereby automatically steering and thus controlling the path "P" to be followed, i.e. taken by the cart assembly 10.
  • the CPU performs its calculations, it effects the driving of the individually powered wheels 37 which each have a microprocessor controlling their respective speed and rotational direction.
  • An RF signal generator arrangement (RF 1) 54 (the second sensor configuration utilized in the present invention) is mounted in the cart assembly 10, and is in communication with an RF transceiver RF2 in the remote carried transponder "T" represented in figures 2 and 5, and with the central processing unit (CPU), which CPU is also in communication with the two ultrasound transponders 32 through the computer control arrangement (CPU) 30.
  • the RF transponder 54 provides a trigger time which permits the measurement of the time between the signals of the ultrasound transponders to provide the basis of the CPU to instruct the independently empowered drive wheels as to direction of rotation and to speed of rotation.
  • the ultrasound signal communication arrangement (UT1 & UT2) 32 emits sound signals for radar-like detection and alerts the cart assembly 10 as to avoidance controls of tracking targets, obstacles, water, sand traps, blockages.
  • the ultrasound signal communication arrangement 32 may also provide a measurement of distance to an item.
  • the CPU constantly calculates the distance between the remote device "T" carried by the cart's user and the sensor on the cart, using triangulation, wherein the distance and direction between the cart and the cart user (i.e. golf player) may be determined, and proper instructions transmitted to the microprocessor controlled drive wheels, to properly maneuver the cart on the field of play.
  • the control algorithm instruction is based on that feedback from the sensors 32 and 54.
  • the computer control arrangement (CPU) 30 keeps track of the player's walking path. For short distances, the CPU instructs the cart to closely follow the player's walking path "P", as represented in figure 7. For longer distances, the CPU may be instructed to provide commands to go to the player on a shorter more direct path, and to follow the player within a proper distance.
  • the combined RF and ultrasound sensor arrangements 54 and 32 thus provides a proper feedback to the control computer (CPU) 30 so that the control computer may also further control the direction of rotation and speed of each individual drive wheel and also to avoid obstructions in the path of the cart assembly, yet still properly follow the location transmitting device through a non-linear path, if need be.
  • the modes of operation of the system of the present invention comprise: constant communication with user, the following of person "1" (user), and the trajectory followed, so the cart will avoid obstacles and not stray into the wrong territory, such as a pond, a tree or the like.
  • the remote device may be instructed to send the cart assembly towards the next position, for example, the next hole “H” on the golf course, via RF inputted instructions from the user's carried device "T” to the RF Transceiver on the cart 10, for communication through the CPU to the drive wheels 37.
  • the cart assembly may also, in a further embodiment, become a push cart when the power is turned off.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Handcart (AREA)

Abstract

A foldable cart assembly 10 having a user tracking arrangement 30,32,33 so as to follow movement of the user during motion over a field. The cart assembly 10 has a plurality of ultrasound 32 and RF sensors 54 in communication with corresponding sensors in a remote handset transmission device "T" carried by the user.

Description

FOLD ABLE CART WITH TRACKING ARRANGEMENT
Discussion of the Prior Art
Foldable and collapsible carts and particularly collapsible golf carts have been around for many years. The prior art fails to disclose a uniquely trackable, user-followable, collapsible cart as identified herein as the present invention. It is thus an object of the present invention to overcome the disadvantages of the prior art. It is yet a further object of the present invention to provide a mobile cart which is capable of tracking (following) a user behind that user yet staying within/along the same exact path the user has taken. It is yet another object of the present invention to provide an autonomous mobile cart which is capable by a first tracking means, of following the path of a user responsive to and according to a transponder carried by and controllable by the user. It is still yet a further object of the present invention to have the cart circumnavigationally avoid obstacles in its path by a second automatic, directional control means.
Brief Summary of the Invention
The present invention relates to a motor driven, autonomously directed and controlled, foldable cart assembly which articulates from a fully opened, supportive frame assembly into a compact and carryable mechanism.
The lower base frame has the pivot arrangement along a mid-portion thereof, to permit articulation thereof. The front end of the lower base frame has an axle arrangement extending thereacross. A rotatably empowered, independently controlled wheel is arranged at each end of the front end's transverse axle arrangement. Each independently controlled wheel at each end of the transverse axle arrangement is independently controlled by a microprocessor as to each wheel's speed and as to each wheel's independent direction of rotation, by each drive wheel having a computer controlled electronic drive motor thereconnected. A housing arranged supportively on the front end of the lower base frame encloses a control computer, the drive wheels' motor controls, and a power supply unit. The control computer within that housing receives information through a proper circuit, from a multiple sensor arrangement installed within the cart assembly. A generally L-shaped bracket is attached to a midpoint of each of a pair of upwardly directable frame members and extend toward the front end of the cart assembly, and also extend generally parallel to the lower base frame arrangement. Each L-shaped bracket is spaced transversely apart from one another a specific distance, for computational purposes of the computer control unit. These L-shaped brackets include portions of the sensor arrangement within the cart assembly. The ultrasound sensor member component of the multiple sensor arrangement, in one preferred embodiment is arranged on/in the cart assembly for example, to detect tracking targets such as the user holding a tracking target device (handset), obstacles including sand pits, water and any sort of travel-blocking entity. A second sensor member, such as for example, an RF (radio frequency) sensor member, may also be arranged on/in the cart assembly or for example, in the housing, to function as a timer, to "set the clock" in conjunction with the monitoring of the ultrasound sensor arrangement's responses for following the ultrasound action, for ultrasound control of direction and position through the central processing unit for setting and controlling the cart assembly's direction (path) and speed. Precise tracking of positions of for example, a golfer using this cart arrangement, is accomplished by a pair of spaced apart ultrasound sensor transceivers in a phase differential manner, and by the ultrasound sensor array for detection and controlled avoidance of obstacles nearby or crossing the cart assembly's path. The ultrasound sensor arrangement is mounted in the spaced-apart manner on the frame of the cart and interacts with the RF transponder carried in a remote device by the cart's user. These transponders and the RF sensor arrangement continuously triangulate a signal between the cart and the remote device of the cart's user, so as to enable the precise tracking of a user's path by the cart assembly, because the cart's user is carrying the remote transponder.
Those ultrasound and RF transponders of the sensor arrangement are in proper electrical communication through a circuit connected with the control computer (CPU) preferably arranged within the housing which is secured at the second end portion of the lower frame member. The multi-sensor arrangement thus enables the cart assembly to autonomously follow the path of, for example, someone leading or someone directing the way, such as for example, on a golf course, with a (remote control) location-transmitting transponder handset device. The transversely separated ultrasound sensors each send and receive a common signal relative to the location transmitting remote transponder device carried for example by a golfer or the like, whereupon the control computer triangulates that differentially received and timed return signal (with the RF sensor) with the target's (transponder) angle, so as to appropriately effect the rotation of the drive wheels, both as to the rotational direction and as to the rotational speed, thereby controlling the path to be taken by the cart assembly. Once the CPU performs its calculations, it effects the driving of the powered wheels which each have a microprocessor for effecting their respective speed and rotational direction.
The ultrasound signal generator arrangement (of the two sensor configuration) is mounted on the cart, and is in communication with the remote carried handset transponder and with the central processing unit (CPU), which CPU is also in communication with the two ultrasound transponders through the CPU. The cart arranged RF transponder provides a trigger time and permits the measure of the time between the return signals of the ultrasound transponders, so as to provide the basis of the CPU to instruct the independently empowered drive wheels as to direction of rotation and to speed of rotation. The ultrasound signal communication arrangement detects tracking targets, obstacles, water, sand traps, blockages, and they also provide a measurement of distance to an item. Based upon the travel time and sound speed, the CPU continuously calculates the path and the distance between the remote device carried by the cart's user and the sensor on the cart, using triangulation, the distance and direction between the cart and the cart user (i.e. golf player) may be determined, and provides proper instructions to be transmitted to the microprocessor controlled drive wheels, to properly maneuver the cart on the field of play to follow the user's path or follow the user's inputted RF instructions into the control handset for a path for the cart to follow.
The control algorithm is based on that feedback from the sensors. By knowing the distance and direction at anytime (or all the time), the CPU keeps track of the player's walking path. For short distances, the CPU instructs the cart to closely follow the player's walking path. For longer distances, the CPU may provide commands to go to the player on a shorter path, and to follow the player within a proper distance. The combined RF and ultrasound sensor arrangement thus provides proper feedback to the control computer (central processing unit-CPU) so that the control computer may also further control the direction of rotation and speed of each individual drive wheel so as to avoid obstructions in the path of the card assembly, yet still properly follow the location transmitting device through a non-linear path, if need be. Thus the modes of operation of the system of the present invention comprise: constant communication with user, the following of person "1" (user), and the trajectory followed, so the cart will avoid obstacles and not stray into the wrong territory, such as a pond, a tree or the like where the user would not have walked/travelled.
By way of explanation, ultrasonic range finding is use of ultrasound is also called sonar (sound navigation and ranging). This works similarly to radar (radio detection and ranging): An ultrasonic pulse is generated in a particular direction. If there is an object in the path of this pulse, part or all of the pulse will be reflected back to the transmitter as an echo and can be detected through the receiver path. By measuring the difference in time between the pulse being transmitted and the echo being received, it is thus possible to determine how far away the object is.
One aspect of the present invention is that the remote device may be instructed to send the cart towards the next position by manual input of movement directions or instructions to be undertaken in real time as the cart is moving, by input means into the remote device from the user/holder of the remote device to the RF transceiver on the cart. It is to be noted that the cart may also become a push cart when the power is turned off.
The invention thus comprises a foldable four wheeled load carryable cart assembly system comprising: an elongated lower base frame arrangement having a set of wheels on a first half-end thereof, and a set of empowered computer controlled drive wheels on a second half-end thereof; a plurality of pivotable frame portions extending from one side of the second half end, wherein the first half end and the second half end of the lower base frame arrangement is foldable about a generally centrally located pivot axis thereon, and the plurality of pivotable frame portions are foldable about a set of intermediate spaced-apart pivot axes to permit the cart assembly to be folded into a compact hand-carryable configuration; and wherein the cart assembly system includes a wireless user- tracking arrangement thereon, and wherein the wireless user-tracking arrangement electronically instructs an onboard central processing unit computer to control the empowered drive wheels as to rotational direction and rotational speed, to permit the cart assembly to track and follow movement of a system's user during a user's path of motion. The system includes a user-carryable wireless transponder for transmitting wireless signals about a user's location to the wireless user-tracking arrangement on the cart assembly. The tracking arrangement includes a pair ultrasound transponders arranged to communicate positional signals with the user-carryable wireless transponder. The tracking arrangement includes a radio frequency transceiver for providing timing for ultrasound signals utilized by the central processing unit computer in the cart assembly. The ultrasound sensor arrangement transmits obstacle-avoiding signals to the central processing unit computer for the cart assembly to avoid obstacles in the path of the cart assembly. The ultrasound sensors are supported in a horizontally spaced-apart configuration on one set of frame portions to provide communicated-signal triangulation capability to the onboard central processing unit computer. An independent drive motor is arranged for each drive wheel of the cart assembly.
The invention also includes a process for controlling the track, speed and direction of a collapsably foldable, central processor unit controlled, electronically motorized, individual drive wheeled, cart assembly system for use by a cart assembly user in a field of play, comprising: arranging a pair of spaced-apart wireless ultrasound transponders on a frame portion of the cart assembly; providing a carryable wireless location ultrasound transceiver device to a user of the cart assembly; sending a pair of corresponding ultrasound signals from the ultrasound transponders on the cart assembly to and receiving returned back ultrasound signals from the location transceiver device carried by a user; timing the pair of received ultrasound signals received back to the cart assembly by an onboard RF transponder; communicating the signals received by the ultrasound transponder and the RF transponder to the central processing unit computer; and triangulating the signals so as to govern the electronic instructions to the individual drive wheels for the cart assembly to follow the user carrying the transponder device. The method includes: sensing motion and direction of a remote device carried by a user of the system; instructing drive wheels on the cart pursuant to sensed direction, speed and distance of the user carrying the remote device; operating the carryable device as a remote control to instruct the cart assembly to a user- desired site. The instruction to the individual drive wheels from the central processing unit is different for each wheel. The instruction to the individual drive wheels includes an instruction to rotate at different speed from one another. The instruction to the individual drive wheels may include an instruction to rotate at different direction from one another.
The invention also comprises a collapsible wheeled load carryable autonomously mobile cart assembly system comprising: an articulable lower frame having at least two independently empowered drive wheels thereon; an articulable upper frame, with a first and a second sensor transponder arrangement thereon; and a central processing unit on the cart assembly to instruct the empowered drive wheels as to rotational requirements upon receipt of the central processing unit receiving time, direction and distance information from the first and second sensor transponder arrangement; a user carryable handset for receiving and for transmitting position signals with respect to the user and the cart assembly, wherein the first sensor arrangement consists of a pair of spaced apart ultrasound signal trasnponders for communication with an ultrasound transponder in the carryable handset. The first sensor arrangement consists of an RF signal transponder in communication with an RF transponder on the carryable handset. The RF signal transponder in the cart assembly provides a time stamp instruction to the ultrasound signals communicated to the central processing unit in the cart assembly.
Description of the Drawings
Figure 1 is a perspective view of the tracking foldable cart assembly in an open and unloaded configuration;
Figure 2 is a schematic representation of the control system for the cart and the remote device held/carried by the cart's user;
Figure 3 is a flow chart relative to the schematic shown in figure 2;
Figure 4 is a depiction of the circuit for the movement control module;
Figure 5 is a depiction of the circuit for the sensor control module;
Figure 6 is a representation of the circuit of the power voltage regulator module; and Figure 7 is a representation of the cart assembly tracking and following a user along the user's path.
Detailed Description of the Invention
Referring now to the drawings in detail, and particularly to figure 1 , there is shown the present invention which comprises a computer controlled, motor driven, autonomous, directed and controlled, foldable cart assembly 10 which articulates from a fully opened, supportive frame assembly into a compact and carryable mechanism which in one preferred embodiment could be stored for example, as a "carry on" for storage, for example, in an overhead bin in an airliner, within a linear length of about 45 inches, as shown more closely, in the figures of our separate corresponding patent application, Foldablecart-lONonProv, incorporated herein by reference in its entirety.
The foldable cart assembly 10 of the present invention comprises a lower base frame 12 of aluminum or magnesium aluminum alloys having a first end 14 and a second end 16. The lower base frame 12 in a first embodiment comprises a rail arrangement extending longitudinally from the first end 14 to the second end 16 with a collapse pivot arrangement 22 at a midpoint thereof, as may be seen in figure 1. A transverse axle member 18 extends across the first end 14 of the lower base frame 12. A free wheeling coaster wheel 20 is pivotally supported at each end of the front transverse axle member 18.
The lower base frame 12 has the pivot arrangement 22 along a mid-portion thereof, to enable articulated collapsible-carry of the cart assembly 10. The second end of the lower base frame 16 has an axle arrangement 24 extending thereacross. A rotatably empowered, independently controlled wheel 37 is arranged at each end of the second end's transverse axle arrangement 24, as shown and described in our separate patent application, incorporated herein by reference in its entirety.
Each independently controlled wheel 37 at each end of the transverse axle arrangement 24 is independently controlled by a microprocessor 39 being controlled by the central processing unit computer arrangement 30, (CPU - represented in figure 2), as to each wheel's speed and as to each wheel's independent direction of rotation, by each drive wheel 37 having its own computer controlled electronic drive motor. A housing 28 arranged supportively on the second end 16 of the lower base frame 12 encloses the control computer CPU arrangement 30, the drive wheels' motor controls, and a power supply unit, as represented in figures 2, 3, 4, 5 and 6. The control computer arrangement 30 within that housing 28 receives information through a proper circuit 33, from a combinational sensor arrangement (UT1 & UT2) 32 and (RF 1) 54, installed within the cart assembly 10, as represented in figure 3.
A generally L-shaped bracket 50 is attached to a midpoint of each of the upwardly directable mid-frame members 34 and extend toward the second end 16 of the cart assembly 10, and generally parallel to the lower base frame arrangement 12. Each L-shaped bracket 50 is spaced transversely apart from one another a specific distance, for computational purposes of the computer control unit 30. These L-shaped brackets 50 include the ultrasound transponder portions of the sensor arrangement 32 within the cart assembly 10. Each L-shaped bracket 50 has its distal end with the first ultrasound transponder 32 of the combined sensor arrangement (32 and 54), as represented in figure 2.
The second sensor member 54, such as for example, a radio frequency tramnsponder/generator (RF) may also be arranged on/in the cart assembly 10 or for example, in the housing 28, for functioning as a timer or "clock" for the ultrasound transponders (UT1 and UT2) 32. By knowing the distance and direction of a player at anytime and at all time, during an activity, for example, a golf game, the microcomputer 30 can keep track of the player's "G" walking path "P", represented in figure 7. For short distances, the microprocessor 30 provides instructions to the independent microprocessor 39 controlled and motor 24 driven wheels 37 to follow the golfer "G" almost exactly. For a long distances, the microcomputer may provide instructions to the wheels 37 to follow a shorter path, all based upon feedback into the control algorithm from the sensors 32 and 54.
Precise tracking of continuous line of positions of for example, golfers using this cart arrangement, is accomplished by the ultrasound sensors (UT1 & UT2) 32 in a phase differential manner. The ultrasound sensor array 32 is utilized for detection and controlled avoidance of obstacles "O" nearby or crossing the cart assembly's path. The RF sensor arrangement 54 is mounted on the cart assembly 10 and interacts via RF signals sent and received with respect to an RF transponder in the remote handset device "T", represented in figures 1 and 2, carried apart from the cart assembly 10 by the cart's user "G", as may be represented in figure 7. The transponder and the RF sensor arrangement continuously triangulates a signal "S", represented in figures 1 and 7, between the cart assembly 10 and the remote handset device "T" of the cart's user, so as to enable the precise establishing and the tracking of a path "P" by the cart assembly 10, of the cart's user "G" carrying the remote transponder "T" as represented in figure 7.
Those first and second ultrasound transponders (UT1 & UT2) 32 of the sensor arrangement are in proper electrical communication through the circuit 33 connected with the control computer (CPU) 30 preferably arranged within the housing 28 which is secured at the second end 16 of the lower frame member 12. The multiple ultrasound sensor arrangement 32 thus enables the cart assembly to autonomously follow the path "P" of for example, someone leading the way, such as for example, on a golf course, with a (remote control) location-transmitting transponder device "T". The transversely separated first UT 1 & UT2 sensors 32 each receive a timed common signal "S" from the location transmitting remote transponder device "T" carried for example by a golfer "G" or the like, whereupon the control computer CPU 30 triangulates that differentially received and timed (through the RF sensors time stamping) signal with the target's (transponder) angle, so as to appropriately effect the individually different rotation of the drive wheels 37, both as to rotational direction and as to rotational speed, thereby automatically steering and thus controlling the path "P" to be followed, i.e. taken by the cart assembly 10. Once the CPU performs its calculations, it effects the driving of the individually powered wheels 37 which each have a microprocessor controlling their respective speed and rotational direction.
An RF signal generator arrangement (RF 1) 54 (the second sensor configuration utilized in the present invention) is mounted in the cart assembly 10, and is in communication with an RF transceiver RF2 in the remote carried transponder "T" represented in figures 2 and 5, and with the central processing unit (CPU), which CPU is also in communication with the two ultrasound transponders 32 through the computer control arrangement (CPU) 30. The RF transponder 54 provides a trigger time which permits the measurement of the time between the signals of the ultrasound transponders to provide the basis of the CPU to instruct the independently empowered drive wheels as to direction of rotation and to speed of rotation. The ultrasound signal communication arrangement (UT1 & UT2) 32 emits sound signals for radar-like detection and alerts the cart assembly 10 as to avoidance controls of tracking targets, obstacles, water, sand traps, blockages. The ultrasound signal communication arrangement 32 may also provide a measurement of distance to an item. Thus, based upon the travel time and sound speed, the CPU constantly calculates the distance between the remote device "T" carried by the cart's user and the sensor on the cart, using triangulation, wherein the distance and direction between the cart and the cart user (i.e. golf player) may be determined, and proper instructions transmitted to the microprocessor controlled drive wheels, to properly maneuver the cart on the field of play. The control algorithm instruction is based on that feedback from the sensors 32 and 54. By knowing the distance and direction at anytime (or all the time), the computer control arrangement (CPU) 30 keeps track of the player's walking path. For short distances, the CPU instructs the cart to closely follow the player's walking path "P", as represented in figure 7. For longer distances, the CPU may be instructed to provide commands to go to the player on a shorter more direct path, and to follow the player within a proper distance.
The combined RF and ultrasound sensor arrangements 54 and 32 thus provides a proper feedback to the control computer (CPU) 30 so that the control computer may also further control the direction of rotation and speed of each individual drive wheel and also to avoid obstructions in the path of the cart assembly, yet still properly follow the location transmitting device through a non-linear path, if need be. Thus the modes of operation of the system of the present invention comprise: constant communication with user, the following of person "1" (user), and the trajectory followed, so the cart will avoid obstacles and not stray into the wrong territory, such as a pond, a tree or the like.
Another aspect of the present invention is that the remote device may be instructed to send the cart assembly towards the next position, for example, the next hole "H" on the golf course, via RF inputted instructions from the user's carried device "T" to the RF Transceiver on the cart 10, for communication through the CPU to the drive wheels 37. The cart assembly may also, in a further embodiment, become a push cart when the power is turned off.

Claims

Claims:
1. A foldable four wheeled load carryable cart assembly system comprising:
an elongated lower base frame arrangement having a set of wheels on a first half-end thereof, and a set of empowered computer controlled drive wheels on a second half-end thereof;
a plurality of pivotable frame portions extending from one side of the second half end, wherein the first half end and the second half end of the lower base frame arrangement is foldable about a generally centrally located pivot axis thereon, and the plurality of pivotable frame portions are foldable about a set of intermediate spaced-apart pivot axes to permit the cart assembly to be folded into a compact hand-carryable configuration; and wherein the cart assembly system includes a wireless user- tracking arrangement thereon, and wherein the wireless user-tracking arrangement electronically instructs an onboard central processing unit computer to control the empowered drive wheels as to rotational direction and rotational speed, to permit the cart assembly to track and follow movement of a system's user during a user's path of motion.
2. The cart assembly as recited in claim 1, wherein the system includes a user- carryable wireless transponder for transmitting wireless signals about a user's location to the wireless user-tracking arrangement on the cart assembly.
3. The cart assembly as recited in claim 2, wherein the tracking arrangement includes a pair ultrasound transponders arranged to communicate positional signals with the user- carryable wireless transponder.
4. The cart assembly as recited in claim 3, wherein the tracking arrangement includes a radio frequency transceiver for providing timing for ultrasound signals utilized by the central processing unit computer in the cart assembly.
5. The cart assembly as recited in claim 4, wherein the ultrasound sensor arrangement transmits obstacle-avoiding signals to the central processing unit computer for the cart assembly to avoid obstacles in the path of the cart assembly.
6. The cart assembly as recited in claim 3, wherein ultrasound sensors are supported in a horizontally spaced-apart configuration on one set of frame portions to provide communicated-signal triangulation capability to the onboard central processing unit computer.
7. The cart assembly as recited in claim 1, including an independent drive motor for each drive wheel of the cart assembly.
8. A process for controlling the track, speed and direction of a collapsably foldable, central processor unit controlled, electronically motorized, individual drive wheeled, cart assembly system for use by a cart assembly user in a field of play, comprising:
arranging a pair of spaced-apart wireless ultrasound transponders on a frame portion of the cart assembly;
providing a carryable wireless location ultrasound transceiver device to a user of the cart assembly;
sending a pair of corresponding ultrasound signals from the ultrasound transponders on the cart assembly to and receiving returned back ultrasound signals from the location transceiver device carried by a user;
timing the pair of received ultrasound signals received back to the cart assembly by an onboard RF transponder;
communicating the signals received by the ultrasound transponder and the RF transponder to the central processing unit computer; and
triangulating the signals so as to govern the electronic instructions to the individual drive wheels for the cart assembly to follow the user carrying the transponder device.
9. The method as recited in claim 8, including: sensing motion and direction of a remote device carried by a user of the system.
10. The method as recited in claim 8, including:
instructing drive wheels on the cart pursuant to sensed direction, speed and distance of the user carrying the remote device.
11. The method as recited in claim 8, including:
operating the carryable device as a remote control to instruct the cart assembly to a user-desired site.
12. The method as recited in claim 10, wherein the instruction to the individual drive wheels from the central processing unit is different for each wheel.
13. The method as recited in claim 10, wherein the instruction to the individual drive wheels includes an instruction to rotate at different speed from one another.
14. The method as recited in claim 10, wherein the instruction to the individual drive wheels includes an instruction to rotate at different direction from one another.
15. A collapsible wheeled load carryable autonomously mobile cart assembly system comprising:
an articulable lower frame having at least two independently empowered drive wheels thereon;
an articulable upper frame, with a first and a second sensor transponder arrangement thereon; and
a central processing unit on the cart assembly to instruct the empowered drive wheels as to rotational requirements upon receipt of the central processing unit receiving time, direction and distance information from the first and second sensor transponder arrangement.
16. The cart assembly system as recited in claim 15, including a user carryable handset for receiving and for transmitting position signals with respect to the user and the cart assembly.
17. The cart assembly as recited in claim 16, wherein the first sensor arrangement consists of a pair of spaced apart ultrasound signal trasnponders for communication with an ultrasound transponder in the carryable handset.
18. The cart assembly as recited in claim 16, wherein the first sensor arrangement consists of an RF signal transponder in communication with an RF transponder on the carryable handset.
19. The cart assembly as recited in claim 18, wherein the RF signal transponder in the cart assembly provides a time stamp instruction to the ultrasound signals communicated to the central processing unit in the cart assembly.
20. The cart assembly as recited in claim 18, wherein the articulable upper frame is divided into multiple sections for rotatable collapse into a hand carryable configuration with a collapsed lower frame therebeneath.
PCT/US2012/060766 2011-10-21 2012-10-18 Foldable cart with tracking arrangement Ceased WO2013059423A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12842420.7A EP2768704B1 (en) 2011-10-21 2012-10-18 Foldable cart with tracking arrangement

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201161628039P 2011-10-21 2011-10-21
US61/628,039 2011-10-21
US201261633359P 2012-02-09 2012-02-09
US61/633,359 2012-02-09

Publications (1)

Publication Number Publication Date
WO2013059423A1 true WO2013059423A1 (en) 2013-04-25

Family

ID=48135053

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/US2012/060759 Ceased WO2013059418A1 (en) 2011-10-21 2012-10-18 Tracking foldable cart
PCT/US2012/060766 Ceased WO2013059423A1 (en) 2011-10-21 2012-10-18 Foldable cart with tracking arrangement

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/US2012/060759 Ceased WO2013059418A1 (en) 2011-10-21 2012-10-18 Tracking foldable cart

Country Status (3)

Country Link
US (2) US8789638B2 (en)
EP (1) EP2768704B1 (en)
WO (2) WO2013059418A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015121797A1 (en) 2014-02-12 2015-08-20 Kaddymatic Inc Control system of a self-moving cart, in particular a golf caddie
US9869999B2 (en) 2015-10-16 2018-01-16 Lemmings, Llc Robotic golf caddy
US10197999B2 (en) 2015-10-16 2019-02-05 Lemmings, Llc Robotic golf caddy
CN112337059A (en) * 2019-08-08 2021-02-09 赵相炫 Companion control for sports equipment
US11446423B2 (en) 2017-10-23 2022-09-20 Stryker Corporation Autonomous waste collection assembly and medical waste collection system and methods

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8789638B2 (en) * 2011-10-21 2014-07-29 Ftr Systems, Inc. Foldable cart with tracking arrangement
US8905175B2 (en) * 2013-01-14 2014-12-09 Tung Thih Electronic Co., Ltd. Remote-controlled electric golf bag cart
CN103458226A (en) * 2013-06-05 2013-12-18 南京工业职业技术学院 Video tracker
US20150327638A1 (en) * 2014-05-15 2015-11-19 Debashis Ghosh Apparatus, system, and method of providing linkage between two or more objects such that they can passively track or follow one another
US9145154B1 (en) * 2014-09-19 2015-09-29 Brian Horowitz Folding wagon
US9656682B2 (en) * 2014-10-10 2017-05-23 Eli Ahlemeier Motorized stroller system and apparatus
JP6528382B2 (en) * 2014-10-22 2019-06-12 株式会社Ｓｏｋｅｎ Vehicle Obstacle Detection Device
US20170049202A1 (en) * 2015-08-21 2017-02-23 Edinaldo Nascimento Automatic Following Luggage System
CN105759699A (en) * 2015-12-31 2016-07-13 合肥格易集成电路有限公司 Multifunctional baby carriage system
US10072935B2 (en) 2016-02-03 2018-09-11 Walmart Apollo, Llc Apparatus and method for tracking carts in a shopping space
FR3051279B1 (en) * 2016-05-10 2021-01-29 Vincent Jacquemart PROCESS FOR MANAGING THE MOVEMENT OF A FLEET OF AUTONOMOUS MOBILE OBJECTS, PROCESS FOR MOVING AN AUTONOMOUS MOBILE OBJECT, DEVICES AND CORRESPONDING COMPUTER PROGRAM PRODUCTS
US20180079591A1 (en) * 2016-09-19 2018-03-22 Jackson State University Automated trash cart
US10499754B2 (en) 2016-09-21 2019-12-10 Walmart Apollo, Llc Sensing device for shopping cart
US12423737B2 (en) 2016-10-18 2025-09-23 Walmart Apollo, Llc System, method, and machine-readable media for monitoring objects in a cart using sensors
CN106980318A (en) * 2017-04-05 2017-07-25 芜湖酷哇机器人产业技术研究院有限公司 Self-navigation perambulator
US11577766B2 (en) 2017-05-09 2023-02-14 Brian Horowitz Folding wagon
IT201700092791A1 (en) * 2017-08-10 2019-02-10 E Cosi S R L SHOPPING CART
CN107608345A (en) * 2017-08-26 2018-01-19 深圳力子机器人有限公司 A kind of robot and its follower method and system
US10023213B1 (en) * 2017-10-04 2018-07-17 Jerry Alvin Corcoran Disc golf transport system
US20190151725A1 (en) * 2017-11-20 2019-05-23 Andrew Bennett Golf course carrier controller and assistant
US10705529B2 (en) 2018-01-05 2020-07-07 Honda Motor Co., Ltd. Autonomous all-terrain vehicle (ATV)
JP6687234B2 (en) * 2018-03-05 2020-04-22 株式会社エクセディ Mobile device
CN108860252A (en) * 2018-06-24 2018-11-23 华北理工大学 A kind of fruit conveying vehicle and its automatic follow pick people system
US10919555B1 (en) 2018-10-16 2021-02-16 Robert Spruill Automated robotic shopping cart
US12179737B2 (en) 2018-10-19 2024-12-31 GEOSAT Aerospace & Technology Unmanned ground vehicle and method for operating unmanned ground vehicle
CN113119749B (en) 2018-12-07 2023-03-17 纳恩博（北京）科技有限公司 Driving method of electric scooter and electric scooter
US20200307784A1 (en) * 2019-03-25 2020-10-01 Psj International Ltd. Unmanned aerial vehicle and unmanned aerial vehicle controlling system
US10852722B2 (en) * 2019-04-03 2020-12-01 Ching MENG Following operation system
US11383701B2 (en) * 2019-04-26 2022-07-12 Meng Ching Obstacle avoiding guidance system
USD904713S1 (en) * 2019-04-30 2020-12-08 B & B Best Industrial Co., Ltd. Frame for a hand cart
GB2592273B (en) * 2020-02-24 2023-11-15 Stewart Golf Ltd Foldable golf trolley
KR102376535B1 (en) * 2020-08-06 2022-03-17 서정철 Autonomous Mobile Apparatus
KR102338745B1 (en) * 2021-04-27 2021-12-15 경상북도 김천시(김천시농업기술센터장) Electric transfer device for facility house
CN115107843A (en) * 2022-07-15 2022-09-27 深圳车泰斗科技有限公司 Method and device for controlling mobile carrier and mobile carrier
CN118062092A (en) * 2022-11-24 2024-05-24 创科无线普通合伙 Movable Vehicles
EP4389562B1 (en) * 2022-12-21 2026-02-04 Shop-E One OÜ Remote-controlled personal cart system for transporting items
KR102800811B1 (en) * 2025-02-20 2025-04-29 (주)정원에스에프에이 Multipurpose manager capable of autonomous driving and following

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5167389A (en) 1990-10-22 1992-12-01 Reimers Eric W Self propelled golf bag cart
US5611406A (en) 1994-09-16 1997-03-18 Nikko Electric Industry Co., Ltd. Automatic guiding and tracking device
US5810105A (en) 1995-03-15 1998-09-22 Technologietransfer-Anstalt Tetra Ultrasonic tracking control for an automotive vehicle
US20090038864A1 (en) * 2007-08-07 2009-02-12 Sung Yol Yun Remotely controllable golf cart and method for steering a cart
US20090295639A1 (en) * 2008-05-29 2009-12-03 Nec (China) Co., Ltd. Autonomous ultrasonic indoor location system, apparatus and method

Family Cites Families (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3472333A (en) * 1967-04-25 1969-10-14 Hugo Loewenstern Jr Remote controlled wheeled golf club carrier
US3812929A (en) * 1971-07-26 1974-05-28 Citation Mfg Co Inc Self-propelled golf cart
US3856104A (en) * 1972-07-07 1974-12-24 S Ohba Sequential control circuit for a remote-controlled vehicle
US3893532A (en) * 1974-04-29 1975-07-08 Panpacific Recreational Produc Power assisted golf cart
US4106583A (en) * 1976-08-25 1978-08-15 P. N. Associates, Inc. Self-powered folding golf cart
US4356875A (en) * 1980-05-05 1982-11-02 Elmer F. Clune Portable motorized golf cart
US4418776A (en) * 1981-06-22 1983-12-06 Weirick Richard A Drive unit for golf bag cart
USD280943S (en) * 1983-03-25 1985-10-08 Jocelyn David Catford Powered golf cart
US4570732A (en) * 1984-08-22 1986-02-18 Craven Charles G Motor driven golf bag cart
GB8621105D0 (en) * 1986-09-01 1986-10-08 Kramer D C Remotely-controlled vehicle
USD300577S (en) * 1987-08-31 1989-04-04 Kangaroo Golf Ltd., d/b/a, Kangaroo Products Company Motorized golf bag cart
US4926161A (en) * 1989-10-23 1990-05-15 Cupp Ted W Method of monitoring golf carts on a golf course
DE4009015A1 (en) * 1990-03-21 1991-09-26 Kiffe Horst Gregor GOLF CADDY
US5180023A (en) * 1990-10-22 1993-01-19 Reimers Eric W Self propelled golf bag cart
US5137103A (en) * 1991-05-30 1992-08-11 Cartmell James R Remote controlled golf bag cart
US5350982A (en) * 1992-12-16 1994-09-27 Seib James N Motorized golf bag cart circuit and apparatus
US5375673A (en) * 1993-04-02 1994-12-27 Mccall; Amiel J. Golf bag card accessory drive unit
US5517098A (en) * 1994-05-09 1996-05-14 Dong; Dawei Automatic tracking mobile platform
JPH0891242A (en) * 1994-07-29 1996-04-09 Shinko Electric Co Ltd Electric carrier
US5749424A (en) * 1995-01-26 1998-05-12 Reimers; Eric W. Powered cart for golf bag
USD389782S (en) * 1995-07-19 1998-01-27 Golfpro International, Inc. Robotic golf bag carrying cart
US5944132A (en) * 1995-07-20 1999-08-31 Golfpro International, Inc. Method and apparatus for controlling robotic golf caddy apparatus
US5711388A (en) * 1995-07-20 1998-01-27 Golfpro International, Inc. Robotic golf caddy apparatus and method
DE69914183T2 (en) * 1998-01-28 2004-11-25 O.M.G. S.R.L., Cascine Di Buti AUTOMATIC CARRIAGE FOR TRANSPORTING GOLF CLUBS OR OTHER OBJECTS AND ACCESSORIES
US6276470B1 (en) * 1998-11-03 2001-08-21 Cart Buddy, Inc. Power assisted adapter for pull type golf club bag carrying carts
US6327219B1 (en) * 1999-09-29 2001-12-04 Vi&T Group Method and system for directing a following device toward a movable object
US6698789B2 (en) * 2000-02-04 2004-03-02 Sun Mountain Sports, Inc. Collapsible golf cart
US6502656B2 (en) * 2000-08-04 2003-01-07 John M. Weiss Universally adaptable mobilized storage container
US6345836B1 (en) * 2000-09-01 2002-02-12 David Wu Folding collapsible golf cart
US6607207B2 (en) * 2001-05-04 2003-08-19 Richard N. Shapiro Wheeled personal mobility devices with collapsible wheel axle assemblies and integrated steering and propulsion linkages
US6719319B2 (en) * 2001-12-28 2004-04-13 Unique Product & Design Co., Ltd. collapsing device for the third wheel of a golf cart
US6659208B2 (en) * 2002-01-15 2003-12-09 Fairway Golf Cars, Llc Powered golf caddy vehicle
US7017691B2 (en) * 2004-03-12 2006-03-28 Sheng-Kuai Lu Foldable cart
US7353089B1 (en) * 2004-04-13 2008-04-01 P.E.M. Technologies, Llc Method and system for a signal guided motorized vehicle
US20100168934A1 (en) * 2006-05-17 2010-07-01 Your Shadow Technologies Pty Ltd Robotic Golf Caddy
ES2342912B1 (en) * 2008-01-29 2011-06-20 Juan Carlos Pla Gomez CART FOR ELECTRIC AND FOLDABLE GOLF BAGS.
US8393633B2 (en) * 2010-04-05 2013-03-12 Unique Product & Design Co., Ltd. Golf bag cart foldable device
GB2474733B (en) * 2010-05-21 2012-02-15 Unique Product & Design Co Ltd Foldable golf bag cart
US8292321B2 (en) * 2010-05-21 2012-10-23 Unique Product & Design Co., Ltd. Golf bag cart foldable device
CN201855545U (en) * 2010-10-22 2011-06-08 稳正企业股份有限公司 Electric golf cart
US8403355B2 (en) * 2010-11-10 2013-03-26 Unique Product & Design Co., Ltd. Golf bag cart foldable device
US8613463B2 (en) * 2011-06-01 2013-12-24 Unique Product & Design Co., Ltd. Front wheel folding device of golf bag cart
US8480098B2 (en) * 2011-09-09 2013-07-09 Unique Product & Design Co., Ltd. Golf bag cart
US8500153B2 (en) * 2011-10-12 2013-08-06 Unique Product & Design Co., Ltd. Folding joint of golf bag cart
US8789638B2 (en) * 2011-10-21 2014-07-29 Ftr Systems, Inc. Foldable cart with tracking arrangement

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5167389A (en) 1990-10-22 1992-12-01 Reimers Eric W Self propelled golf bag cart
US5611406A (en) 1994-09-16 1997-03-18 Nikko Electric Industry Co., Ltd. Automatic guiding and tracking device
US5810105A (en) 1995-03-15 1998-09-22 Technologietransfer-Anstalt Tetra Ultrasonic tracking control for an automotive vehicle
US20090038864A1 (en) * 2007-08-07 2009-02-12 Sung Yol Yun Remotely controllable golf cart and method for steering a cart
US20090295639A1 (en) * 2008-05-29 2009-12-03 Nec (China) Co., Ltd. Autonomous ultrasonic indoor location system, apparatus and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2768704A1

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015121797A1 (en) 2014-02-12 2015-08-20 Kaddymatic Inc Control system of a self-moving cart, in particular a golf caddie
US9869999B2 (en) 2015-10-16 2018-01-16 Lemmings, Llc Robotic golf caddy
US10180329B2 (en) 2015-10-16 2019-01-15 Lemmings, Llc Robotic golf caddy
US10197999B2 (en) 2015-10-16 2019-02-05 Lemmings, Llc Robotic golf caddy
US10649451B2 (en) 2015-10-16 2020-05-12 Lemmings, Llc Robotic golf caddy
US12153428B2 (en) 2015-10-16 2024-11-26 Lemmings, Llc Robotic vehicle
US11733695B2 (en) 2015-10-16 2023-08-22 Lemmings, Llc Robotic vehicle
US10962971B2 (en) 2015-10-16 2021-03-30 Lemmings, Llc Robotic vehicle
US11446423B2 (en) 2017-10-23 2022-09-20 Stryker Corporation Autonomous waste collection assembly and medical waste collection system and methods
US12280198B2 (en) 2017-10-23 2025-04-22 Stryker Corporation Autonomous waste collection assembly and medical waste collection system and methods
US11215988B2 (en) 2019-08-08 2022-01-04 Hanwoo Cho Accompanying control of locomotion device
WO2021025720A1 (en) * 2019-08-08 2021-02-11 Hanwoo Cho Accompanying control of locomotion device
CN112337059A (en) * 2019-08-08 2021-02-09 赵相炫 Companion control for sports equipment

Also Published As

Publication number Publication date
US8789638B2 (en) 2014-07-29
US20130098700A1 (en) 2013-04-25
EP2768704B1 (en) 2019-10-16
US20130103245A1 (en) 2013-04-25
US8955870B2 (en) 2015-02-17
EP2768704A1 (en) 2014-08-27
WO2013059418A1 (en) 2013-04-25
EP2768704A4 (en) 2016-03-30

Similar Documents

Publication Publication Date Title
EP2768704B1 (en) Foldable cart with tracking arrangement
US9393981B1 (en) Foldable cart with rear guidance arrangement
US11266067B2 (en) Moving robot, method for controlling moving robot, and moving robot system
KR102292262B1 (en) Moving robot and contorlling method thereof
US11439058B2 (en) System and method for controlling and monitoring operation of an autonomous robot
KR102292267B1 (en) Moving robot, system of moving robot and method for moving to charging station of moving robot
EP3603371B1 (en) Lawn mower robot, system of lawn mower robot and control method of lawn mower robot system
US8428776B2 (en) Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same
US11989017B2 (en) Station apparatus and moving robot system
US11864491B2 (en) Transmitter of moving robot system and method for detecting removal of transmitter
CN111386504A (en) Golf cart system automatically driven based on accurate location information and golf cart control method using the same
WO2016105609A1 (en) Robotic mowing of separated lawn areas
CN101863029A (en) Edge-following moving device
US6142251A (en) System consisting of an automotive vehicle, preferably golf caddy, and a transmitter
CZ81597A3 (en) Guide system for a self-propelled vehicle with separated portable transmission apparatus and method of steering such vehicle
CA2305606A1 (en) Apparatus including two separate vehicles controlled to move at a predetermined relative position
EP4063079B1 (en) Mobile robot system and boundary information generation method for mobile robot system
EP4180186B1 (en) Mobile robot and method for controlling same
CN107831759A (en) Delivery system with automatic constraint function
JP2014108269A (en) Remote control electric golf back cart
EP2730482B1 (en) Remote-controlled electric golf bag cart
JPS6238910A (en) Automatic tracking type caddie cart
JPH04145507A (en) Travel controller for self-traveling work wagon
TWI658285B (en) Automatic tracking device
KR20230016887A (en) System for automatically tracking moving target and the method thereof

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12842420

Country of ref document: EP

Kind code of ref document: A1

DPE2 Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2012842420

Country of ref document: EP