Method and apparatus for controlling robotic golf caddy apparatus

• US 5,944,132 A
• Filed: 09/08/1997
• Issued: 08/31/1999
• Est. Priority Date: 07/20/1995
• Status: Expired due to Fees

• Current Assignee: Golfpro International, Inc.
• Original Assignee: Golfpro International, Inc.
• Inventors: Davies, Ronald C., Fowler, Frederick J.
• Primary Examiner(s): Mai, Lanna
• Assistant Examiner(s): Lerner, Avraham H.
• Application Number:
  US08/925,530
• Time in Patent Office: 722 Days
• Field of Search: 180/167, 180/168, 180/65.1, 280/DIG. 5, 901/1, 701/213, 701/215, 701/217, 701/23, 701/25, 701/24
• US Class Current: 180/168
• CPC Class Codes: A63B 2024/0025 Tracking the path or location of one or more users, e.g. players of a game
• CPC Class Codes: A63B 2055/603 with means for trailing the caddy other than by hand
• CPC Class Codes: A63B 2071/0691 Maps, e.g. yardage maps or electronic maps
• CPC Class Codes: A63B 2102/32 Golf
• 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 2220/14 Geo-tagging, e.g. for correlating route or track location data with specific information related to that specific location
• CPC Class Codes: A63B 2220/20 Distances or displacements
• CPC Class Codes: A63B 2225/66 Cooled
• CPC Class Codes: A63B 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 55/61 motorised
• CPC Class Codes: A63B 57/00 Golfing accessories
• CPC Class Codes: A63B 69/36 for golf
• CPC Class Codes: A63B 71/06 Indicating or scoring devices for games or players , or for other sports activities
• CPC Class Codes: B62B 2202/404 Golf articles, e.g. golfbags
• CPC Class Codes: B62B 5/0076 Remotely controlled
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 22/004 for golf carts
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/071 : DGPS corrections
• CPC Class Codes: G01S 19/41 : Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G05D 1/0244 : using reflecting strips
• 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 1/0263 : using magnetic strips
• CPC Class Codes: G05D 1/027 : comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 : using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0282 : generated in a local control room
• CPC Class Codes: Y10S 280/05 : Motorized golf carts

Abstract

A robotic golf caddy apparatus (21) movably supported on a steering assembly (28) and including a communications assembly (41) for communicating with a GPS system (61) and a central control station in order to guide and steer the apparatus around designated accessible areas of a golf course. The apparatus (21) also includes a dead reckoning system with distance determination device (83) and compass (85) for determining the distance the caddy travels should the communications assembly (41) lose communications with a predetermined minimum number of satellites in the GPS system (61). Also, a sensor (72a) is provided for detecting a guide tape or line (126,130), provided in preselected areas of the golf course. The caddy apparatus (21) is steered along the guide tape (126,130), rather than by the GPS system (61), in certain areas of the course where the GPS system (61) may be inadequate for maximum safe operation of the caddy apparatus.

Claims

1. A method of controlling a self-propelled, steerable vehicle through an accessible area with predetermined boundaries defining areas not accessible to the vehicle, the method comprising the steps of

(1) moving the object through the accessible area and within the predetermined boundaries,

(2) while the vehicle is in the accessible area, using a GPS system having a multiplicity of satellites to determine the approximate location of the vehicle in the accessible area,

(3) steering the vehicle based in part on the determined approximate location of the vehicle using the GPS system, and

(4) if the number of viewable satellites from which signals can be received in the GPS system falls below a predetermined minimum number, then performing the following steps until the number of viewable satellites increases to the minimum number:

(a) determining a safe distance that the vehicle can travel along a path, which distance is related to the position of the vehicle in relation to the boundaries of the accessible area, at the time the number of viewable satellites falls below the minimum number, and

(b) steering the vehicle along the path and at the same time determining the distance the vehicle travels along the path after the time the number of viewable satellites falls below the minimum number using a distance determination device independent of the GPS system,

(5) once the number of viewable satellites increases to the minimum number, continuing to steer the vehicle through the accessible area using the GPS system.

2. The method of claim 1 wherein step (4) (b) of steering the vehicle along a path includes,

stopping the vehicle should the distance determined in step (4) (b) reach an acceptable safety level proportion of the distance determined in step (4) (a).

3. The method of claim 1 wherein,

the vehicle is movable by means of wheels and step (4) (b) of determining the distance the vehicle travels using a distance determination device includes counting the number of revolutions of at least one of the wheels of the vehicle and determining the distance traveled as a function of the number of revolutions.

4. The method of claim 1 wherein,

the GPS system has a margin of error based on the number of viewable satellites, and the acceptable safety level proportion has factored into it the margin of error of the GPS system.

5. The method of claim 1 wherein,

the vehicle includes, in addition to a receiver, a computer controller for performing steps (3) and (4) (a) and (4) (b).

6. The method of claim 5 wherein,

the computer controller includes a data storage device wherein a map of the accessible area, the inaccessible areas and the boundaries therebetween are charted and a set of navigational rules are stored, and the computer controller performs step (3) by triangulating the longitude, latitude and elevation of the vehicle.

7. The method of claim 5 wherein,

step (3) is further performed by sending signals from the GPS system to a stationary receiver, the location of which in relation to the map is known, determining the approximate location of the stationary receiver, comparing the known location of the stationary receiver to the determined approximate location of the stationary receiver to create an error figure, and adjusting the determined approximate location of the vehicle by the error figure.

8. The method of claim 1 wherein,

the vehicle further includes a compass and step (4) (b) of continuing to move the vehicle includes the step of continuing to move the vehicle in the direction the vehicle was heading when the number of viewable satellites fell below the minimum number, and step (4) (a) of determining a safe distance includes determining the distance to the nearest boundary in the direction that the vehicle is heading.

9. The method of claim 1 wherein,

step (1) of moving the vehicle through the accessible area is performed with use of a map charting the accessible area, the areas not accessible and the boundaries therebetween, and further comprising the steps of

sensing the presence of uncharted obstacles in the immediate vicinity of the vehicle by means of a sensor carried on the vehicle,

mapping a route around the uncharted obstacle, and

moving the vehicle around the uncharted obstacle.

10. The method of claim 9 wherein,

the step of steering the vehicle includes steering the vehicle along pre-selected routes in certain areas of the accessible area.

11. A method of controlling a self-propelled, steerable vehicle through an accessible area with predetermined boundaries defining areas not accessible to the vehicle, the method comprising the steps of

moving the vehicle through the accessible area and within the predetermined boundaries,

while the vehicle is in the accessible area, using a GPS system having a multiplicity of satellites to determine the approximate location of the vehicle within the accessible area,

steering the vehicle based in part on the determined approximate location of the vehicle using the GPS system,

providing a detectable guide mechanism in preselected areas of the accessible area,

when the vehicle is within a preselected area, sensing the location of the detectable guide mechanism by a sensor carried on the vehicle, and steering the vehicle along the detectable guide mechanism in response to the sensed location of the guide mechanism,

when the vehicle leaves the preselected area, resuming steering of the vehicle by use of the GPS system.

12. The method of claim 11 wherein,

the preselected areas are areas where steering of the vehicle by use of the GPS system may be difficult due to one of the margin of error of the GPS system and obstacles to communication with the GPS system.

13. The method of claim 12 wherein,

the preselected areas are areas where communication with a predetermined minimum number of satellites is difficult due to one of the margin of error of the GPS system and obstacles to communication with the GPS system.

14. The method of claim 12 wherein,

the preselected areas are areas whose boundaries are narrower than the margin of error of the GPS system.

15. The method of claim 11 wherein,

the detectable guide mechanism extends along a path, and the vehicle is steered along the path in close proximity with the guide mechanism.

16. A self-propelled, steerable vehicle comprising,

a frame movably supported for travel in a designated accessible area,

a computer control assembly carried on the frame for controlling movement of the frame in the accessible area,

a communications assembly carried on the frame for communicating with a GPS system having a predetermined minimum number of viewable satellites in order to approximate the position of the vehicle within the accessible area, and for communicating with at least one local source in order to guide the vehicle in close proximity to the local source,

a distance determination device carried on the frame for determining the distance traveled by the vehicle when communication with GPS system is temporarily interfered with, the computer control assembly including control means for controlling movement of the frame when the number of viewable satellites falls below a predetermined number, including determining a safe distance that the frame can travel along a path, which distance is related to the position of the frame in relation to the accessible area, at the time the number of viewable satellites falls below the minimum number, and further including steering the frame along the path and at the same time determining the distance the vehicle travels along the path after the time the number of viewable satellites falls below the minimum number using the distance determination device independent of the GPS system.

17. The apparatus of claim 16 wherein,

the interference is the result of the viewable number of satellites falling below the predetermined minimum number.

18. The apparatus of claim 16 wherein,

the distance determination device operates independently of the GPS system.

19. The apparatus of claim 18 wherein,

the movable frame includes at least one wheel, and

the distance determination device comprises a sensor for determining the number of revolutions of the wheel of the movable frame.

20. The apparatus of claim 18 wherein,

the movable frame includes at least one wheel, and

the distance determination device comprises means for determining the number of revolutions of the wheel of the movable frame.

21. The apparatus of claim 16 and further comprising,

a sensor for detecting a guide mechanism in the accessible area, and wherein the computer control assembly is adapted to move the vehicle along the guide mechanism when the vehicle moves into close proximity of the guide mechanism.