Robotic golf caddy

• US 10,180,329 B2
• Filed: 12/06/2017
• Issued: 01/15/2019
• Est. Priority Date: 10/16/2015
• Status: Active Grant

• Current Assignee: Lemmings LLC
• Original Assignee: Lemmings LLC
• Inventors: Doane, Dennis W., Doane, Rick M., Doane, Timothy L., Doane, Shea P., Nicola, Robert T., Burns, Kenneth M.
• Primary Examiner(s): INGRAM, THOMAS P
• Application Number:
  US15/832,978
• Publication Number:
  US 20180120835A1
• Time in Patent Office: 405 Days
• CPC Class Codes: A63B 2071/0625 Emitting sound, noise or music
• CPC Class Codes: A63B 2210/50 Size reducing arrangements for stowing or transport
• CPC Class Codes: A63B 2220/12 Absolute positions, e.g. by using GPS
• CPC Class Codes: A63B 2220/13 Relative positions
• CPC Class Codes: A63B 2220/40 Acceleration
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2220/89 Field sensors, e.g. radar systems
• CPC Class Codes: A63B 2225/50 Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2225/682 for beverages
• CPC Class Codes: A63B 2225/687 for others, e.g. keys, wallets, books
• CPC Class Codes: A63B 2225/74 with powered illuminating means, e.g. lights
• CPC Class Codes: A63B 55/61 motorised
• CPC Class Codes: A63B 57/20 Holders, e.g. of tees or of balls
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

A autonomous robotic golf caddy which is capable of following a portable receiver at a pre-determined distance, and which is capable of sensing a potential impending collision with an object in its path and stop prior to said potential impending collision.

Claims

1. A autonomous golf caddy responsive to a signal from a remote transmitter, the autonomous golf caddy including:

a remote transmitter configured to be releasably connected to or borne by a golfer;

a golf caddy having a vehicle frame and a housing connected to said vehicle frame, said housing having a bag support and an electronic display, a rear surface of said bag support configured to support a portion of the golf bag when the golf bag is loaded on said housing, said electronic display configured to a) provide information to a golfer, b) provide information about said golf caddy, or a) and b);

a tracking receiver system, said tracking receiver system configured to receive a signal from said remote transmitter, said tracking receiver system including a plurality of ultra-wide band bandwidth sensors;

a processor system in communication with said tracking receiver system, said processor system configured to receive a signal from said tracking receiver system and to use such received signal from said tracking receiver system to determine a position of said remote transmitter relative to said golf caddy and to cause said golf caddy to move relative to the remote transmitter in accordance with instructions processed by said processor system;

a drive mechanism connected to said vehicle frame, said drive mechanism configured to move said golf caddy; and

,

a collision avoidance arrangement in communication with said processor system, said collision avoidance arrangement including a plurality of ultrasonic sensors that are configured to detect objects about said golf caddy, said collision avoidance arrangement configured to send information to said processor system so that such information can be used to cause said golf caddy to avoid collision or contact with said detected objects, said collision avoidance arrangement includes at least three ultrasonic sensors.

2. The autonomous golf caddy of claim 1, said bag support including a golf bag connection arrangement configured to releasably secure a golf bag to said housing.

3. The autonomous golf caddy of claim 1, wherein at least two of said ultrasonic sensors are positioned on a front portion of said vehicle frame and positioned forwardly of said plurality of said ultra-wide band bandwidth sensors.

4. The autonomous caddy of claim 3, wherein a spacing between said ultrasonic sensors that are adjacently positioned to one another is less than a spacing between said ultra-wide band bandwidth sensors that are adjacently positioned to one another.

5. The autonomous golf caddy of claim 1, wherein the drive mechanism further includes at least one drive wheel, at least one steering wheel, an electric motor coupled to said at least one drive wheel;

and, a power source electrically connected to said motor.

6. The autonomous golf caddy of claim 1, further comprising a navigation arrangement in communication with said processor system, said navigation arrangement is configured to obtain location information of said golf caddy, said location information is processed by said navigation arrangement, said processor system, or combinations thereof facilitate in the movement of said golf caddy.

7. The autonomous golf caddy of claim 6, wherein said navigation arrangement includes a global positioning system (GPS) system.

8. The autonomous golf caddy of claim 1, wherein said navigation arrangement, said processor system, or combinations thereof includes map information and said location information is used with said map information to facilitate in the movement of said golf caddy.

9. The autonomous golf caddy of claim 1, further comprising a gradient sensor in communication with said processor system, said gradient sensor providing information to said processor system related to a position of said golf caddy on an incline of a gradient on a ground surface, said processor system is configured to move said golf caddy in response to a signal received from said gradient sensor.

10. The autonomous golf caddy of claim 1, further comprising a lateral sensor in communication with said processor system, said lateral processor provide information to said processor system related to a sideways tipping movement of said golf caddy, said processor system is configured to move said golf caddy in response to a signal received from said lateral sensor.

11. The autonomous golf caddy of claim 1, wherein said electronic display is an interactive display in communication with said processor system, said interactive display is configured to interact with a user of said golf caddy.

12. The autonomous golf caddy of claim 11, wherein said interactive display is configured to provide one or more types of information or functions to a user selected from the group consisting of (i) providing instructional information to the user regarding said golf caddy;

(ii) providing golf-related information to the user;

(iii) providing diagnostic/status information to the user regarding said golf caddy, said diagnostic/status information including one or more types of information selected from the group consisting of battery low, battery fully charged, sensors working, sensor malfunction, software error, software version, motor status, and run time of motor;

(iv) providing a connection status with a smart device or system in communication with said processor system of said golf caddy;

(v) enabling a user to power up or power down said golf caddy; and

(vi) enabling a user, owner, leasor or leasee to authorize, activate, deactivate, or combinations thereof said golf caddy.

13. The autonomous golf caddy of claim 12, wherein said golf-related information to the user includes one or more types of information selected from the group consisting of (i) golf swing advice;

(ii) a map of the golf course, (iii) map of a particular hole, (iv) distance to the green, (v) distance to the hole, (vi) recommended club based on position of said golf caddy, (vii) recommended location to hit golf ball on course base on position of said golf caddy, (viii) recommended strategies for the golf hole, (ix) topography of the golf course, (x) topography of a particular golf hole, (xi) location of hazards on golf course, (xii) location of hazards for a particular golf hole, (xiii) location of restrooms, (xiv) location of cart path, (xv) directions to next hole, (xvi) location of club house, (xvii) location of golf caddy return, (xviii) par information for a particular golf hole, (xix) information about the difficulty of golf course, (xx) information about the difficulty of golf hole, (xxi) history of golf course, (xxii) history of the golf hole, (xxiii) date, (xxiv) time, (xxv) USGA rules, (xxvi) score card, (xxvii) weather information, (xxviii) golf course congestion information, (xxix) golfer'"'"'s handicap information, (xxx) further tee time availability, (xxxi) information about other golfers on golf course, (xxxii) course sponsors, (xxxiii) golf wager management, (xxxiv) warning information about playing too slow on course, (xxxv) wind speed, (xxxvi) wind direction, (xxxvii) contest information, (xxxviii) scores of golfers, (xxxvix) scores of golfers adjusted with handicap, (xxxx) history of golfer'"'"'s score on golf course, (xxxxi) history of golfer'"'"'s score on golf hole, (xxxxii) member information, (xxxiii) guest information, (xxxxiv) golfer information, (xxxxv) member account information, (xxxxvi) distance the golfer walked, (xxxxvii) number of calories the golfer burned, (xxxxviii) fees on the golfer'"'"'s account, (xxxxix) golf event information, (xxxxx) future golf event info or reminder, (xxxxxi) tee time, (xxxxxii) tee time reminder, and (xxxxxiii) weather advisory or warnings.

14. A autonomous golf caddy responsive to a signal from a remote transmitter, said autonomous golf caddy including:

a remote transmitter;

a golf caddy having a vehicle frame and a housing connected to said vehicle frame;

said housing having a bag support and one or more features selected from the group consisting of i) an electronic display configured to a) provide information to a golfer, b) provide information about said golf caddy, or a) and b);

ii) a smart device charger configured to charge a smart device, and iii) a smart device communication arrangement configured to communicate with a smart device located remotely from said golf caddy;

a rear surface of said bag support configured to support a portion of the golf bag when the golf bag is loaded on said housing;

a tracking receiver system, said tracking receiver system configured to receive a signal from said remote transmitter;

a guidance system, said guidance system including one or more sensors selected from the group consisting of an ultra-wide band bandwidth sensor, camera, bluetooth sensor, RF-based sensor, ultrasonic sensor, WiFi sensor, Lidar sensor, GPS sensor, LORAN sensor, mobile phone sensor, lateral sensor, gradient sensor and GSM sensor;

a processor system in communication with said tracking receiver system and said guidance system, said processor system configured to receive a signal from said tracking receiver system and to use such received signal from said tracking receiver system to determine a position of said remote transmitter relative to said golf caddy, said processor system configured to receive a signal from said guidance system and to use such received signal from said guidance system to cause said golf caddy to a) avoid collision or contact with the golfer during movement of said golf caddy, b) avoid collision or contact with an object during movement of said golf caddy, c) avoid movement to an undesired or restricted location, or d) some combination of a), b) and c);

a drive mechanism connected to said vehicle frame, said drive mechanism configured to move said golf caddy; and

,

a first accelerometer is included in said remote transmitter and a second accelerometer is included on said vehicle frame, said processor system configured to receive information from said first and second accelerometers and to use such received information to control a speed of said golf caddy, a direction of movement of said golf caddy, or combinations thereof.

15. The autonomous golf caddy as defined in claim 14, wherein said guidance system includes a plurality of different sensors.

16. The autonomous golf caddy as defined in claim 15, wherein said guidance system includes first and second ultra-wide band bandwidth sensors, and one or more sensors selected from the group consisting of a camera, bluetooth sensor, RF-based sensor, ultrasonic sensor, WiFi sensor, Lidar sensor, GPS sensor, LORAN sensor, mobile phone sensor, lateral sensor, gradient sensor and GSM sensor.

17. The autonomous golf caddy as defined in claim 14, wherein said guidance system includes first and second ultra-wide band bandwidth sensors, said first ultra-wide band bandwidth sensor is positioned on one side of said vehicle frame and said second ultra-wide band bandwidth sensor is positioned on an opposite side of said vehicle frame, said first and second ultra-wide band bandwidth sensors spaced equal distances from a front end of said vehicle frame.

18. The autonomous golf caddy as defined in claim 17, wherein said guidance system includes first and second ultra-wide band bandwidth sensors, said first ultra-wide band bandwidth sensor is positioned on one side of said vehicle frame and said second ultra-wide band bandwidth sensor is positioned on an opposite side of said vehicle frame, said first and second ultra-wide band bandwidth sensors spaced equal distances from a front end of said vehicle frame.

19. The autonomous golf caddy as defined in claim 14, wherein said electronic display is an interactive display in communication with said processor system, said interactive display is configured to interact with a user of said golf caddy, said interactive display is configured to provide one or more types of information or functions to a user selected from the group consisting of (i) providing instructional information to the user regarding said golf caddy;

(ii) providing golf-related information to the user;

(iii) providing diagnostic/status information to the user regarding said golf caddy, said diagnostic/status information including one or more types of information selected from the group consisting of battery low, battery fully charged, sensors working, sensor malfunction, software error, software version, motor status, and run time of motor;

(iv) providing a connection status with a smart device or system in communication with said processor system of said golf caddy;

(v) enabling a user to power up or power down said golf caddy; and

(vi) enabling a user, owner, leasor or leasee to authorize, activate, deactivate, or combinations thereof said golf caddy;

said golf-related information to the user includes one or more types of information selected from the group consisting of (i) golf swing advice;

(ii) a map of the golf course, (iii) map of a particular hole, (iv) distance to the green, (v) distance to the hole, (vi) recommended club based on position of said golf caddy, (vii) recommended location to hit golf ball on course based on position of said golf caddy, (viii) recommended strategies for the golf hole, (ix) topography of the golf course, (x) topography of a particular golf hole, (xi) location of hazards on golf course, (xii) location of hazards for a particular golf hole, (xiii) location of restrooms, (xiv) location of cart path, (xv) directions to next hole, (xvi) location of club house, (xvii) location of golf caddy return, (xviii) par information for a particular golf hole, (xix) information about the difficulty of golf course, (xx) information about the difficulty of golf hole, (xxi) history of golf course, (xxii) history of the golf hole, (xxiii) date, (xxiv) time, (xxv) USGA rules, (xxvi) score card, (xxvii) weather information, (xxviii) golf course congestion information, (xxix) golfer'"'"'s handicap information, (xxx) further tee time availability, (xxxi) information about other golfers on golf course, (xxxii) course sponsors, (xxxiii) golf wager management, (xxxiv) warning information about playing too slow on course, (xxxv) wind speed, (xxxvi) wind direction, (xxxvii) contest information, (xxxviii) scores of golfers, (xxxvix) scores of golfers adjusted with handicap, (xxxx) history of golfer'"'"'s score on golf course, (xxxxi) history of golfer'"'"'s score on golf hole, (xxxxii) member information, (xxxiii) guest information, (xxxxiv) golfer information, (xxxxv) member account information, (xxxxvi) distance the golfer walked, (xxxxvii) number of calories the golfer burned, (xxxxviii) fees on the golfer'"'"'s account, (xxxxix) golf event information, (xxxxx) future golf event info or reminder, (xxxxxi) tee time, (xxxxxii) tee time reminder, and (xxxxxiii) weather advisory or warnings.

20. The autonomous golf caddy as defined in claim 14, wherein said remote transmitter is configured to be releasably connected to or be borne by the golfer.