Automatic cart for transporting golf clubs or other objects and accessories

• US 6,404,159 B1
• Filed: 07/28/2000
• Issued: 06/11/2002
• Est. Priority Date: 01/28/1998
• Status: Expired due to Term

• Current Assignee: O.M.G. S.r.l.
• Original Assignee: Francesco Cavallini
• Inventors: Cavallini, Francesco
• Primary Examiner(s): Fletcher, Marlon T.
• Application Number:
  US09/601,191
• Time in Patent Office: 683 Days
• Field of Search: 318/139, 318/580-582, 318/587, 318/590-591, 318/625
• US Class Current: 318/587
• CPC Class Codes: B60L 2200/30 Trolleys
• CPC Class Codes: B60L 3/0015 Prevention of collisions
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

An automatic cart for transporting golf clubs or other objects and accessories. The cart has at least one electric drive motor connected to at least one wheel of the cart, at least one electronic controller for controlling the motor, and a plurality of sensors peripherally disposed on the cart. The sensors are used to detect the presence of obstacles in the path of the cart and to sense the signals coming from an external signal source associated with the user. A microcomputer control unit analyses information from the sensors and coordinates movement of the cart so that it stays near the user.

Claims

1. Cart for transporting golf clubs or other objects and accessories, said cart comprising:

one or more electric drive motors connected to one or more wheels of said cart and fed by an on board battery;

one or more electronic controllers of said motor, or motors;

a plurality of sensors positioned, peripherally, on said cart, including

first sensor units dedicated to sense signals emitted by an external ultrasonic signal source associated with the user of the cart,

second sensor units dedicated to detect the presence of obstacles in the path of the cart;

one or more microcomputer control units interfacing said sensors and said controller, or controllers, according to an algorithm useful to lead said cart in the proximity of said external ultrasonic signal source;

wherein said external ultrasonic signal source includes at least one ultrasonic signal emitter,

wherein said first sensor units include at least one ultrasonic signal receiver,

wherein said second sensor units include at least one ultrasonic signal emitter and at least one ultrasonic signal receiver.

2. Cart as claimed in claim 1, wherein second sensor units dedicated to the detection of obstacles in the path of the cart are composed of sensors positioned in correspondence with the front of the cart.

3. Cart as claimed in claim 1, wherein said first sensor units dedicated to sense the signal emitted by the external signal source comprise at least one sensor positioned in correspondence with one side of the cart and at least one sensor positioned in correspondence with the front of the cart.

4. Cart as claimed in claim 1, wherein a covering structure of the mechanical and electrical components of the cart comprises at least one container for golf clubs, said container being linked to said covering structure by means of horizontal cylindrical hinge so as to position said container either obliquely, during the normal use of the cart, or horizontally, during the transportation or storage of the cart.

5. Cart as claimed in claim 1, said cart comprising a covering structure of the mechanical and electrical components, in which there are specific housings for accessories and various objects, removable support elements being centrally connected to said covering structure for anchoring golf bags or similar objects.

6. Cart according to claim 1, wherein said microcomputer control unit, or units, includes at least one section dedicated to the transmission of radio-frequency signals for synchronising the operation of said external ultrasonic signal source in order to locate said signal source in respect of said cart by measuring the time amount between the synchronising signal transmission and the acquisition of said first data with the aid of said first sensor units.

7. Cart according to claim 1, wherein two wheels, aligned on a transversal horizontal axle located in correspondence with the advance section of said cart, are separately connected to the cart frame and to two respective electric motors, one or more wheels, located in correspondence with the opposite section of the cart, are connected to said frame by way of vertical axle hinges so as to allow it, or them, to rotate freely around both its, or their, own horizontal axle and the vertical axle passing in proximity of the point of wheel ground contact, said microcomputer control unit separately controls said electric motors so as to direct said cart towards said external ultrasonic signal source, the control action of the straight line advancement of the cart, as well as, of the necessary changes in direction, depending on which sensor unit, or units, has sensed the signals emitted by said external source.

8. Cart according to claim 1, wherein two wheels aligned on a transversal horizontal axle located in correspondence with the advance section of said cart, are connected to a steering system actuated by means of an electrical actuator, said steering system including a position transducer, one or more wheels, located in correspondence with the opposite section of the cart, are connected to an electrical traction motor, said microcomputer control unit, further including one section dedicated to controlling said steering system actuator, controls said electrical traction motor and said steering system actuator so as to direct said cart towards said external signal source, the control action of the straight line advancement of the cart, as well as, of the necessary changes in direction, depending on which sensor unit, or units, has sensed the signals emitted by said external source.

9. Cart according to claim 1, wherein said microcomputer control unit provides a reading phase of said first and said second data, a processing phase of said first data, a transmission phase of processed data to said control sections, said data processing and transmission phases depending on whether or not said second data reveal the presence of obstacles in the path of the cart, providing, in the event of the presence of obstacles, the transmission of data useful to stop the cart.

10. Cart according to claim 9, wherein said data processing section, in the event of the presence of obstacles, sends to said control sections processed data useful to stop the cart and to generate a series of alternate cart movements in two opposite directions until the obstacle is laterally by-passed.

11. Cart as claimed in claim 1, wherein said first sensor units dedicated to sense the signal emitted by the external signal source comprise at least one sensor positioned in correspondence with one side of the cart and at least one sensor positioned in correspondence with the front of the cart, and wherein at least one sensor of said first sensor units coincides with at least one sensor of said second sensor units, said microcomputer control unit transmitting signals for synchronising the operation of said external signal source in order to distinguish the signal source location phase from the obstacles detection phase.

12. Cart for transporting golf clubs or other objects and accessories, said cart comprising:

one or more electric drive motors connected to one or more wheels of said cart and fed by an on board battery;

one or more electronic controllers of said motor, or motors;

a plurality of sensors positioned, peripherally, on said cart, including

first sensor units dedicated to sense signals emitted by an external signal source,

second sensor units dedicated to detect the presence of obstacles in the path of the cart;

one or more microcomputer control units interfacing said sensors and said controller, or controllers, according to an algorithm useful to lead said cart in the proximity of said external signal source;

said microcomputer control unit, or units includes

at least one section dedicated to the acquisition of first and second data coming from said peripheral sensors, said first data being related to the location of said external signal source in respect of the cart, said second data being related to the detection of obstacles placed in the path of the cart,

at least one section dedicated to interface said electronic controller, or controllers,

at least one section dedicated to the processing of data coming from said acquisition section and to the sending of processed data to said control sections.

13. Cart as claimed in claim 12, wherein said microcomputer control unit, or units includes at least one section dedicated to the transmission of radio-frequency signals for synchronizing the operation of said external signal source in order to locate said signal source in respect of said cart by measuring the time amount between the synchronizing signal transmission and the acquisition of said first data with the aid of said first sensor units.

14. Cart as claimed in claim 12, wherein two wheels, aligned on a transversal horizontal axle located in correspondence with the advance of said cart, are separately connected to the cart frame and to two respective electric motors, one or more wheels, located in correspondence with the opposite section of the cart, are connected to said frame by way of vertical axle hinges so as to allow it, or them, to rotate freely around both its, or their, own horizontal axle and the vertical axle passing in proximity of the point of wheel ground contact, said microcomputer control unit separately controls said electric motors so as to direct said cart towards said external signal source, the control action, of the straight line advancement of the cart, as well as, of the necessary changes in direction, depending on which sensor unit, or nits, has sensed the signal emitted by said external source.

15. Cart as claimed in claim 12, wherein two wheels aligned on a transversal horizontal axle, located in correspondence with the advance section of said cart, are connected to a steering system actuated by means of an electrical actuator, said steering system including a position transducer, one or more wheels, located in correspondence with the opposite section of the cart, are connected to an electrical traction motor, said microcomputer control unit, further including one section dedicated to controlling said steering system actuator, controls said electrical traction motor and said steering system actuator so as to direct said cart towards said external signal source, the control action of the straight line advancement of the cart, as well as, of the necessary changes in direction, depending on which sensor unit or units has sensed the signal emitted by said external source.

16. Cart as claimed in claim 15, wherein a further wheel (17) is vertically movable between two positions, said wheel being located on the central longitudinal axle of the cart in correspondence with said wheels connected with said electric traction motor, in a first of said positions said wheel being raised from the ground, in a second of said positions said wheel being in contact with the ground and said two wheels being raised to allow the manual movement of the cart in emergency situations.

17. Cart as claimed in claim 12 wherein said microcomputer control unit provides a reading phase of said first and said second data, a processing phase of said first data, a transmission phase of processed data to said control sections said data processing and transmission phases depending on whether or not said second data reveal the presence of obstacles in the path of the cart, providing in the event of the presence of obstacles, the transmission of data useful to stop the cart.

18. Cart as claimed in claim 17, wherein said data processing section, in the event of the presence of obstacles, sends to said control sections processed data useful to stop the cart and to generate a series of alternate cart movements in two opposite directions until the obstacle is laterally by-passed.

19. Cart for transporting golf clubs or other objects and accessories, said cart comprising:

one or more electric drive motors connected to one or more wheels of said cart and fed by an on board battery;

one or more electronic controllers of said motor, or motors;

a plurality of sensors positioned, peripherally, on said cart, including

first sensor units dedicated to sense signals emitted by an external signal source,

second sensor units dedicated to detect the presence of obstacles in the path of the cart;

one or more microcomputer control units interfacing said sensors and said controller, or controllers, according to an algorithm useful to lead said cart in the proximity of said external signal source;

wherein at least one sensor of said first sensor units coincides with at least one sensor of said second sensor units, said microcomputer control unit transmitting signals for synchronizing the operation of said external signal source in order to distinguish the signal source location phase from the obstacles detection phase.

20. Cart for transporting golf clubs or other objects and accessories, said cart comprising:

one or more electric drive motors connected to one or more wheels of said cart and fed by an on board battery;

one or more electronic controllers of said motor, or motors;

a plurality of sensors positioned, peripherally, on said cart, including

first sensor units dedicated to sense signals emitted by an external signal source,

second sensor units dedicated to detect the presence of obstacles in the path of the cart;

one or more microcomputer control units interfacing said sensors and said controller, or controllers, according to an algorithm useful to lead said cart in the proximity of said external signal source;

wherein a covering structure of the mechanical and electrical components of the cart comprises a seating for housing one or more golf bags, said bags being restrained, in a removable way, to two parallel shaped bars positioned longitudinally in correspondence with the sides of the cart, a protection cover of said bags being bound to an auxiliary frame hinged at either end, to said shaped bars such that said protecting cover can be moved from a first position, whereby said cover is rolled up within said covering structure, to a second position whereby said cover is stretched out to protect said bags.

21. Cart as claimed in claim 20, wherein said shaped bars are connected to said covering structure by means of collapsible or removable attachments such that said bars can be removed or folded up during the transportation of the cart.

22. Cart for transporting golf clubs or other objects and accessories, said cart comprising:

one or more electric drive motors in driving communication with one or more wheels of said cart;

one or more electronic controllers for controlling one or more of said motors;

first and second sensor systems positioned on said cart;

wherein first said sensor system includes an external ultrasonic signal source associated with the user of the cart and said external ultrasonic signal source including at least one ultrasonic signal emitter, and said first sensor system includes a first sensor unit positioned on said cart and dedicated to sense signals emitted by said external ultrasonic signal source, and

wherein said second sensor system includes second sensor units positioned on said cart and dedicated to detect the presence of obstacles in the path of the cart, and wherein said second sensor units include at least one ultrasonic signal emitter and at least one ultrasonic signal receiver; and

one or more microcomputer control units interfacing said first and second sensor systems with said one or more electronic controllers to lead said cart in the proximity of said external ultrasonic signal source and to avoid obstacles.