Robotic golf caddy

• US 9,869,999 B2
• Filed: 10/14/2016
• Issued: 01/16/2018
• 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:
  US15/293,660
• Publication Number:
  US 20170108860A1
• Time in Patent Office: 459 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. An autonomous robotic golf caddy responsive to a signal from a remote transmitter, the autonomous robotic golf caddy including:

a remote transmitter configured to be releasably connected to a golfer, said remote transmitter configured to transmit an ultra-wide band bandwidth signal having a bandwidth of greater than 500 MHz;

a golf caddy having a vehicle frame and a housing connected to said vehicle frame, said housing having a golf bag cavity, a bag support, an electronic display, and a smart device charger, said golf bag cavity configured to receive a bottom portion of a golf bag when the golf bag is loaded on said housing, said bag support positioned forwardly of said golf bag cavity and extending upwardly from a top surface of said golf bag cavity, 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 and the bottom portion of the golf bag is positioned in said golf bag cavity, said electronic display secured to said bag support and configured to a) provide information to a golfer, b) provide information about said golf caddy, or a) and b), said smart device charger positioned forwardly of said golf bag cavity, said smart device charger configured to releasably connect to a smart device and charge a smart device;

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 unit in communication with said tracking receiver system, said processor unit configured to process a signal received 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 unit;

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 unit, 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 unit to cause said golf caddy to avoid collision or contact with said detected objects.

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

7. The autonomous robotic golf caddy of claim 1, wherein said navigation arrangement, said processor unit, 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.

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

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

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

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

12. The autonomous robotic 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 unit 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 robotic 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. The autonomous robotic golf caddy of claim 1, wherein said collision avoidance arrangement includes at least three ultrasonic sensors.

15. A method for controlling movement of an autonomous robotic golf caddy at a predetermined distance behind a golfer on a golf course, the method comprising:

providing a remote transmitter that is configured to be releasably connected to the golfer, said remote transmitter configured to transmit an ultra-wide band bandwidth signal having a bandwidth of greater than 500 MHz;

providing said autonomous golf caddy, said autonomous golf caddy including;

a vehicle frame and a housing connected to said vehicle frame, said housing having a golf bag cavity, a bag support, an electronic display, and a smart device charger, said golf bag cavity configured to receive a bottom portion of a golf bag when the golf bag is loaded on said housing, said bag support positioned forwardly of said golf bag cavity and extending upwardly from a top surface of said golf bag cavity, 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 and the bottom portion of the golf bag is positioned in said golf bag cavity, said electronic display secured to said bag support and configured to a) provide information to a golfer, b) provide information about said golf caddy, or a) and b), said smart device charger positioned forwardly of said golf bag cavity, said smart device charger configured to releasably connect to a smart device and charge a smart device;

a tracking receiver system, said tracking receiver system configured to receive a signal from a remote transmitter that is adapted to be located on a golfer, said tracking receiver system including a plurality of ultra-wide band bandwidth sensors;

a processor unit in communication with said tracking receiver system, said processor unit configured to process a signal received 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 unit;

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 unit, 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 unit to cause said golf caddy to avoid collision or contact with said detected objects;

creating a communication connection between said remote transmitter and said golf caddy;

wherein said golf caddy is configured to follow the golfer on a golf course and to avoid collision with objects on the golf course by use of said collision avoidance arrangement.

16. The method of claim 15, further including the steps of:

programming said processor unit, a navigation arrangement, or combinations with map information of said golf course;

obtaining location information of said golf caddy on said golf course; and

,

comparing said location information to said map information to facilitate in movement of said golf caddy on said golf course.

17. The method of claim 15, further including the steps of:

said golf caddy receiving a signal from said remote transmitter;

determining a relative position of said remote transmitter to said golf caddy; and

,

causing said golf caddy to move toward said golfer when a distance of said golfer from said golf caddy is greater than a predefined distance.

18. The method of claim 15, further including the steps of:

said processor unit receiving signals from said collision avoidance arrangement;

said processor unit processes said signals receive from said collision avoidance arrangement to determine if an object is detected about said golf caddy; and

,

said processor unit causing said golf caddy to navigate about a detected object to avoid contact or collision with said detected object.

19. The method of claim 16, further including the steps of:

designating authorized and unauthorized locations on said golf course; and

,

using said map information and said location information to cause said golf caddy to navigate away from said unauthorized locations and to maintain a location within said authorized locations.

20. The method of claim 16, further including the step of using said map information, said location information, and information from said collision avoidance arrangement to cause said golf caddy to follow a safe and effective path of movement to said golfer.

21. The method of claim 17, further including the step of causing said golf caddy to maintain a predetermined following distance behind said golfer on the golf course and to avoid a potential collision with objects in a path of movement of said golf caddy based at least partially on information from said collision avoidance arrangement and information received from said remote transmitter.

22. The method of claim 15, wherein said processing unit processes a plurality of signals selected from the group consisting of (i) input signals received from said remote transmitter that are used to determine a position of said remote transmitter relative to said golf caddy;

(ii) input signals received from said navigation arrangement that are used to determine a geographic location of said golf caddy on said golf course;

(iii) input signals received from said collision avoidance arrangement that are used to locate objects about said golf caddy;

(iv) input signals received from a smart device located on the golfer, located on the golf caddy or combinations thereof;

(v) input signals received from a smart device other than the golfer; and

(vi) input signals received wirelessly from a remote location that is outside a golf playing area;

said processing unit configured to process said plurality of said signals to cause said golf caddy to follow said golfer at a predefined distance or distance range and to avoid collision or contact with a detected object on said golf course.

23. An autonomous robotic golf caddy responsive to a signal from a remote transmitter, said autonomous robotic golf caddy including:

a remote transmitter configured to be releasably connected to a golfer, said remote transmitter configured to transmit an ultra-wide band bandwidth signal;

a golf caddy having a vehicle frame and a housing connected to said vehicle frame, said housing having a golf bag cavity, a bag support, and an electronic display, said golf bag cavity configured to receive a bottom portion of a golf bag when the golf bag is loaded on said housing, said bag support positioned forwardly of said golf bag cavity and extending upwardly from a top surface of said golf bag cavity, 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 and the bottom portion of the golf bag is positioned in said golf bag cavity, said bag support including a golf bag connection arrangement configured to releasably secure the golf bag to said housing when the bottom portion of the golf bag is positioned in said golf bag cavity, 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 first and second ultra-wide band bandwidth sensors;

a collision avoidance arrangement in communication with said processor unit, said collision avoidance arrangement including first and second ultrasonic sensors that are configured to detect objects about said golf caddy, said first and second ultrasonic sensors are positioned on a front portion of said vehicle frame and positioned forwardly of said first and second ultra-wide band bandwidth sensors, a spacing between said first and second ultrasonic sensors is less than a spacing between said first and second ultra-wide band bandwidth sensors;

a processor unit in communication with said tracking receiver system, said processor unit configured to process a signal received 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 said remote transmitter in accordance with instructions processed by said processor unit, said collision avoidance arrangement configured to send information to said processor unit to cause said golf caddy to avoid collision or contact with said detected objects; and

,

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

24. The autonomous robotic golf caddy as defined in claim 23, wherein 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 and a rear end of said vehicle frame.

25. The autonomous robotic golf caddy as defined in claim 23, wherein said electronic display is secured to said bag support.

26. The autonomous robotic golf caddy as defined in claim 24, wherein said electronic display is secured to said bag support.

27. The autonomous robotic golf caddy as defined in claim 23, wherein a first accelerometer is included in said remote transmitter and a second accelerometer is included on said vehicle frame, said processor unit 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.

28. The autonomous robotic golf caddy as defined in claim 26, wherein a first accelerometer is included in said remote transmitter and a second accelerometer is included on said vehicle frame, said processor unit 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.

29. The autonomous robotic golf caddy as defined in claim 23, further comprising a navigation arrangement in communication with said processor unit, said navigation arrangement is configured to obtain location information of said golf caddy;

said location information is processed by said navigation arrangement, said processor unit, or combinations thereof to facilitate in the movement of said golf caddy;

said navigation arrangement, said processor unit, or combinations thereof includes map information and said location information is used with said map information to facilitate in a direction of movement of said golf caddy, said navigation arrangement includes a global positioning system (GPS) system.

30. The autonomous robotic golf caddy as defined in claim 23, further comprising a gradient sensor in communication with said processor unit, said gradient sensor providing information to said processor unit related to a position of said golf caddy on an incline of a gradient on a ground surface, said processor unit is configured to move said golf caddy in response to a signal received from said gradient sensor.

31. The autonomous robotic golf caddy as defined in claim 23, further comprising a lateral sensor in communication with said processor unit, said lateral processor provide information to said processor unit related to a sideways tipping movement of said golf caddy, said processor unit is configured to move said golf caddy in response to a signal received from said lateral sensor.

32. The autonomous robotic golf caddy as defined in claim 23, wherein said electronic display is an interactive display in communication with said processor unit, 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 unit 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 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.