公开(公告)号：US20110046784A1

公开(公告)日：2011-02-24

申请号：US12543127

申请日：2009-08-18

Applicant: Noel Wayne Anderson

Inventor： Noel Wayne Anderson

IPC: G05B15/00 ,  G05D1/00

CPC classification number: G05D1/0251 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0203 ,  G05D2201/0204 ,  G05D2201/0208 ,  G05D2201/0215 ,  G06T7/593 ,  G06T2207/30252

Abstract: The different illustrative embodiments provide an apparatus that includes an autonomous vehicle, a modular navigation system, and an asymmetric vision module. The modular navigation system is coupled to the autonomous vehicle. The asymmetric vision module is configured to interact with the modular navigation system.

Abstract translation: 不同的示例性实施例提供了一种包括自主车辆，模块化导航系统和不对称视觉模块的装置。 模块化导航系统耦合到自主车辆。 非对称视觉模块被配置为与模块化导航系统交互。

公开(公告)号：US20100168934A1

公开(公告)日：2010-07-01

申请号：US12301116

申请日：2007-05-17

Applicant: David Charles Ball ,  Hubert Novak ,  Michael George Hamilton

Inventor： David Charles Ball ,  Hubert Novak ,  Michael George Hamilton

IPC: G06F17/00 ,  B62D1/24

CPC classification number: A63B55/61 ,  A63B2055/603 ,  A63B2055/605 ,  G01S17/48 ,  G01S17/87 ,  G01S17/936 ,  G05D1/0242 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0204

Abstract: A self propelled robotic vehicle that faithfully follows a portable receiver at a defined distance can sense an impending collision with a solid object in its path and stops prior to collision. The vehicle observes objects that are parallel to its course and if within a distance of

Abstract translation: 自动推进的机器人车辆以一定距离忠实地跟随便携式接收机，可以感受到其路径上的固体物体即将发生的碰撞，并在碰撞之前停止。 车辆观察到平行于其航向的物体，如果在<200mm的距离内禁止转向，使得即使接收器指示收敛路径也不能碰撞。 如果车辆接触任何固体物体，车辆停止并停止移动。 车辆可以感测不安全的梯度，如果超过可接受的运行极限，则停止跟随。 该车辆可用作高尔夫球车，运输车辆或推车，机器人托盘和机器人助理。

公开(公告)号：US20080221744A1

公开(公告)日：2008-09-11

申请号：US11846104

申请日：2007-08-28

Applicant: Dennis W. Doane ,  John B. William

Inventor： Dennis W. Doane ,  John B. William

IPC: G05D1/00

CPC classification number: G05D1/028 ,  G05D2201/0204

Abstract: Autonomous control of steering, speed, forward and reverse movement of a motor vehicle is provided by transmitting a signal from a transmitter carried by an ambulatory user, receiving the signal with three signal-receiving antennae on the motor vehicle, generating first, second and third sub-signals with a three-channel receiver connected to the three antennae, generating sum and difference outputs with the first and second sub-signals, affecting the steering with the difference output, affecting the speed, forward and reverse control with the sum output, generating a distance-to-user output from the third sub-signal, and limiting the proximity of the motor vehicle to the user with the distance-to-user output.

Abstract translation: 通过发送来自移动用户携带的发射机的信号，在机动车辆上接收具有三个信号接收天线的信号来提供机动车辆的转向，速度，前进和后退移动的自主控制，产生第一，第二和第三 具有连接到三个天线的三通道接收器的子信号，产生具有第一和第二子信号的和差和差分输出，影响具有差分输出的转向，影响速度，和输出的正向和反向控制， 从第三子信号产生距离到用户输出，并且用距离到用户输出限制机动车辆与用户的接近度。

公开(公告)号：US06446005B1

公开(公告)日：2002-09-03

申请号：US09373556

申请日：1999-08-13

Applicant: Kirk Bingeman ,  Richard Velasquez ,  William Tekniepe

Inventor： Kirk Bingeman ,  Richard Velasquez ,  William Tekniepe

IPC: B62D128

CPC classification number: A63B24/0021 ,  A63B2024/0025 ,  A63B2071/0691 ,  A63B2102/32 ,  A63B2220/12 ,  A63B2220/13 ,  A63B2220/14 ,  A63B2220/16 ,  A63B2220/20 ,  A63B2220/30 ,  A63B2220/36 ,  A63B2220/80 ,  A63B2225/30 ,  G01C21/12 ,  G01P3/487 ,  G01S19/41 ,  G01S19/49 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0204

Abstract: A system is disclosed for determining precise locations of the golf carts on a golf course in real time as the carts are in use during play of the course. Each cart is outfitted with a dead reckoning navigation (DRN) system for determining speed and direction, and a compass for determining heading of the cart during play. With these parameters and a known origin of the cart to which the DRN system has been calibrated, such as location of a tee box, the location of the cart relative to a known feature of the course such as a cup or hazard may be calculated. The DRN system uses a magnetic wheel sensor assembly having a magnetic strip with spaced alternating opposite magnetic poles affixed to the rim of an inside wheel well or mounting fixture therefor of the cart, mounted to confront a Hall effect sensor. During rotation of the wheel and the strip when the cart is moving, the sensor detects passage of the alternating poles, to measure speed and forward or backward direction of the cart. A compass determines heading of the cart. The DRN system allows operation on courses where GPS-based systems cannot maintain LOS, and is periodically calibrated by a known signal, such as a DGPS signal.

Abstract translation: 公开了一种系统，用于在游戏过程中使用时确定高尔夫球场在高尔夫球场上的精确位置。 每个推车配备有用于确定速度和方向的航位推算导航（DRN）系统，以及用于在游戏期间确定推车的方位的罗盘。 利用这些参数和已经校准了DRN系统的购物车的已知原点，例如三通盒的位置，可以计算出相对于课程的已知特征（例如杯子或危险物）的推车位置。 DRN系统使用具有磁条的磁轮传感器组件，该磁条具有固定到内轮毂的边缘上的间隔的交替相对的磁极或安装成面向霍尔效应传感器的推车的安装夹具。 当车子移动时，轮和带的旋转期间，传感器检测交替的杆的通过，以测量推车的速度和向前或向后的方向。 罗盘确定推车的方向。 DRN系统允许在基于GPS的系统不能保持LOS的课程上操作，并且通过诸如DGPS信号的已知信号周期性地校准。

公开(公告)号：US5711388A

公开(公告)日：1998-01-27

申请号：US682105

申请日：1996-07-17

Applicant: Ronald C. Davies ,  Frederick J. Fowler

Inventor： Ronald C. Davies ,  Frederick J. Fowler

IPC: A63B55/08 ,  A63B57/00 ,  A63B69/36 ,  A63B71/06 ,  B62B5/00 ,  B62D1/28 ,  G01C21/20 ,  G01C22/00 ,  G01S5/14 ,  G01S19/14 ,  G01S19/48 ,  G05D1/02

CPC classification number: A63B57/00 ,  A63B24/0021 ,  A63B69/36 ,  A63B71/06 ,  B62D1/28 ,  G01C21/20 ,  G01C22/004 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0282 ,  A63B2024/0025 ,  A63B2055/603 ,  A63B2071/0691 ,  A63B2102/32 ,  A63B2220/12 ,  A63B2220/13 ,  A63B2220/14 ,  A63B2220/20 ,  A63B2225/66 ,  A63B55/61 ,  B62B2202/404 ,  B62B5/0076 ,  G01S19/07 ,  G01S19/41 ,  G05D1/0244 ,  G05D1/0255 ,  G05D1/0263 ,  G05D2201/0204 ,  Y10S280/05

Abstract: An autonomous personal service robotic apparatus, such as a robotic golf caddy, including a drive assembly for movement of the robotic caddy, a digital computer having memory devices in which are stored a digital map and navigation rules, and having a operations program for the control of performance of personal services, including movement and navigation of the caddy in the environment, and a position determination assembly for determining the position of the robotic device in the environment. The position determination assembly also dynamically determines the position of unmapped elements in the environment and super imposes or overlays them with the mapped elements and position of the robotic apparatus. Position preferably is determined by differential GPS techniques. The navigational rules for the robotic device control its movement in the environment in response to its sensed position in the mapped environment, the sensed unmapped elements and preferably the sensed relative position of the user. A method of providing an autonomous, personal services robot which is well suited to provide a robotic golf caddy.

Abstract translation: 一种自动个人服务机器人装置，例如机器人高尔夫球车，包括用于机器人球童运动的驱动组件，具有存储数字地图和导航规则的存储装置的数字计算机，以及具有用于控制的操作程序 个人服务的执行，包括球员在环境中的移动和导航;以及位置确定组件，用于确定机器人装置在环境中的位置。 位置确定组件还动态地确定未映射元件在环境中的位置，并且将它们与被映射的元件和机器人装置的位置进行超强加或叠加。 位置优选地由差分GPS技术确定。 机器人装置的导航规则响应于其在映射环境中的感测位置，感测到未映射的元件和优选地感测到的用户的相对位置来控制其在环境中的移动。 一种提供适合于提供机器人高尔夫球杆的自主的个人服务机器人的方法。

公开(公告)号：US5053768A

公开(公告)日：1991-10-01

申请号：US455566

申请日：1989-12-21

Applicant: Thomas S. Dix, Jr.

Inventor： Thomas S. Dix, Jr.

IPC: B60Q9/00 ,  B60R25/10 ,  B60R99/00 ,  B60T7/16 ,  B62D1/28 ,  G05D1/02 ,  G08B13/24 ,  G08B21/18 ,  G08G1/09 ,  H04B5/00

CPC classification number: G08B21/182 ,  B60R25/1018 ,  B60T7/16 ,  G05D1/0282 ,  G05D2201/0204 ,  Y10S280/05

Abstract: A system and method are provided for controlling the movement of a golf cart relative to a selected restricted area on a golf course, such as a green. A signal transmitter having a transmitting antenna is postioned in the vicinity of the selected restricted area. A transmission signal is produced from the transmitting antenna at the selected restricted area. A signal receiver having a receiving antenna is positioned on the golf cart for receiving the transmission signal when the golf cart moves into the vicinity of the transmitting antenna. An alarm on the golf cart is activated when the transmission signal received by the receiving antenna reaches a predetetermined level for indicating to an operator of the golf cart that the cart has moved into the restricted area on the golf course. The activation period of the first alarm is timed so that a second alarm on the golf cart can be activated after the expiration of a predetermined time period of activation of the first alarm. The second alarm provides notice to the cart operator that the cart has remained in the restricted area for the predetermined time period. The golf cart may also be disabled in the forward direction after a predetermined time period of activation of the first alarm to prevent further ingress of the cart into the restricted area.

Abstract translation: 提供了一种用于控制高尔夫球车相对于高尔夫球场（例如绿色）上的选定限制区域的运动的系统和方法。 具有发射天线的信号发射机在所选择的限制区域附近。 在选择的限制区域从发送天线产生发送信号。 具有接收天线的信号接收器位于高尔夫球车上，用于当高尔夫球车移动到发射天线附近时接收发射信号。 当接收天线接收的发送信号达到预定水平时，高尔夫球车上的报警被激活，以向高尔夫球车的操作者指示车已经移动到高尔夫球场的限制区域中。 第一报警器的启动周期被定时，使得可以在第一报警器的激活的预定时间段期满之后激活高尔夫球车上的第二报警。 第二个报警器向车主操作者通知车辆在预定时间段内保持在限制区域内。 高尔夫推车也可以在预定时间段的第一警报启动之后向前方向被禁用，以防止车进一步进入限制区域。

公开(公告)号：US4109186A

公开(公告)日：1978-08-22

申请号：US716762

申请日：1976-08-23

Applicant: Anthony Farque

Inventor： Anthony Farque

IPC: A63B55/60 ,  B60L11/18 ,  B62B5/00 ,  B62D1/28 ,  G05D1/02 ,  B60K27/06 ,  B62D11/02

CPC classification number: B62D1/28 ,  B60L11/1805 ,  B62B5/0026 ,  G05D1/028 ,  A63B2055/605 ,  B60L2200/30 ,  B62B2202/404 ,  B62B5/0076 ,  G05D2201/0204 ,  Y02T10/7005

Abstract: A radio controlled guidance and speed control system for a vehicle has spaced receivers for receiving magnetic energy signals from a movable energy source. The signals received vary in accordance with the position of the receivers with respect to the energy source, and are electrically processed to control separate motors driving two wheels of the vehicle for starting, stopping and direction controlling. The circuit for processing the received signals comprises a summing amplifier for speed control, two differential amplifiers for direction control and a gate connected to the summing amplifier through a comparator to provide a stop signal. The circuit provides for a gradual acceleration of the motors. One of the receivers is connected to the gate for developing a stop signal to prevent utilization of ambiguous signals from the other signal receivers.

公开(公告)号：CZ9700815A3

公开(公告)日：1997-09-17

申请号：CZ81597

申请日：1995-09-06

Applicant: BAIL GUNTHER

Inventor： BAIL GUNTHER

IPC: A63B55/60 ,  A63B57/00 ,  B62D1/28 ,  G01S5/14 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0278 ,  A63B55/60 ,  A63B57/00 ,  A63B2055/605 ,  A63B2102/32 ,  A63B2220/12 ,  B62B2202/404 ,  B62D1/28 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0204 ,  Y10S280/05

Abstract: PCT No. PCT/DE95/01211 Sec. 371 Date Mar. 19, 1997 Sec. 102(e) Date Mar. 19, 1997 PCT Filed Sep. 6, 1995 PCT Pub. No. WO96/09575 PCT Pub. Date Mar. 28, 1996A golf cart or caddy and a mobile transmitting device carried by a golf player are each provided with a receiving and evaluating device equipped with a computer for a satellite-controlled positioning system. The two receiving and evaluating devices calculate the respective positions of the golf player and the golf caddy from the signals cyclically received from the satellite system. The mobile transmitting device is provided with a high-frequency manual transmitter which transmits, also cyclically, the positions of the golf player to the golf caddy. The computer of the golf caddy calculates direction and distance of the golf player and stores the data up to the time when the caddy follows the stored path upon a signal. The golf caddy stops at a predetermined distance from the golf player. When a stationary reference transmitter is additionally used for correcting the position data of the golf player and the golf caddy received from the satellite system, specific areas of the golf course can be excluded as forbidden areas, so that these will not be traveled by the golf caddy.

公开(公告)号：EP2169505A3

公开(公告)日：2014-11-12

申请号：EP09168302.9

申请日：2009-08-20

Applicant: DEERE & COMPANY

Inventor： Anderson, Noel Wayne

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0221 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0261 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0204 ,  G05D2201/0213

Abstract: A vehicle is comprised of a machine controller, a steering system, a propulsion system, a braking system, a sensor system, and a knowledge base used by the machine controller. The machine controller identifies a dynamic condition and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle.

公开(公告)号：EP2590041A2

公开(公告)日：2013-05-08

申请号：EP12007555.1

申请日：2012-11-07

Applicant: Udo, Willem-Dirk Hendrik

Inventor： Udo, Willem-Dirk Hendrik

IPC: G05D1/02

CPC classification number: G01S13/765 ,  G01S11/06 ,  G01S13/874 ,  G05D1/0261 ,  G05D2201/0204

Abstract: A target-following vehicle (1) comprises:
a frame (2) carrying wheels (3), the frame having a front side and a rear side;
driving means (121; 122; 123) for driving the wheels;
control means (110) for controlling the driving means;
a remote target unit (200) associated with the vehicle;
stereoscopic location detection means (150) for detecting the relative location of the remote target unit (200) with respect to the vehicle.
The control means control the driving means such that the front side of the frame is directed to the remote target unit, and such that the distance between vehicle and remote target unit is reduced if that distance is more than a predetermined desired distance.

Abstract translation: 目标跟踪车辆（1）包括：承载轮（3）的框架（2），所述框架具有前侧和后侧; 用于驱动车轮的驱动装置（121; 122; 123） 控制装置（110），用于控制驱动装置; 与所述车辆相关联的远程目标单元（200） 立体位置检测装置（150），用于检测远程目标单元（200）相对于车辆的相对位置。 控制装置控制驱动装置，使得框架的前侧指向远程目标单元，并且如果该距离大于预定期望距离，则车辆与远程目标单元之间的距离减小。