# US 2010/0168934 A1 · Robotic Golf Caddy > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2010/0168934 A1 - Document ID: US20100168934A1 - Status: Published application - Kind: A1 - Application number: 12/301,116 - Filed: 2007-05-17 - Published: 2010-07-01 - Earliest claimed: 2006-05-17 - Assignees: Your Shadow Technologies Pty Ltd - Inventors: David Charles Ball; Hubert Novak; Michael George Hamilton - Web page: https://patentgrep.com/patent/US20100168934A1 ## CPC - A63B 55/61: {motorised} - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/028: {using a RF signal} - A63B 2055/603: {with means for trailing the caddy other than by hand} - A63B 2055/605: {by remote control} - G01S 17/48: Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## 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 <200 mm inhibits the steering such that the vehicle is not able to collide even if the receiver instructs a convergence path. The vehicle stops and ceases moving if it contacts any solid object. The vehicle can sense unsafe gradients and ceases following if acceptable operating limits are exceeded. The vehicle can be used as a golf caddy, transport vehicle or cart, robotic pallet and robotic assistant. ## Claims ### Claim 1 A self-propelled robotic vehicle responsive to a radio frequency signal from a transmitter including a vehicle frame; at least two spaced apart receivers adapted to receive the signal from the transmitter; a processor operatively associated with the receivers, said processor being programmed to process input from the at least two spaced apart receivers to locate the position of the transmitter and produce an electrical signal for the vehicle to move relative to the transmitter in accordance with the processor programming; and a drive mechanism supported on the vehicle frame and adapted to receive and act on the electrical signal sent from the processor to move the vehicle in accordance with the processor programming. ### Claim 2 A system for a self-propelled robotic vehicle including a transmitter able to transmit a radio frequency signal; a self-propelled vehicle including a vehicle frame; at least two spaced apart receivers adapted to receive the signal from the transmitter; a processor operatively associated with the receivers, said processor being programmed to process input from the at least two spaced apart receivers to locate the position of the transmitter and produce an electrical signal for the vehicle to move relative to the transmitter in accordance with the processor programming; and a drive mechanism supported on the vehicle frame and adapted to receive and act on the electrical signal sent from the processor to move the vehicle in accordance with the processor programming. ### Claim 3 (depends on 2) A system as claimed in claim 2 wherein the receivers include two spaced apart antennas with each operatively linked to a respective receiver, the receiving antennas being arranged with one antenna peak tuned and the other being dip tuned so that they are 90 degrees out of phase and wherein the two signals are combined for a summed RSSI reading and measure a phase shift to determine the position of the transmitter. ### Claim 4 (depends on 2) A system as claimed in claim 2 wherein the transmitter is a transponder that sends a signal at a frequency between 200 Khz to 8 Ghertz. ### Claim 5 (depends on 2) A system as claimed in claim 2 wherein the transmitter is a transponder that sends a signal at a frequency between 300 Khz and 500 Khz. ### Claim 6 (depends on 2) A system as claimed in claim 2 wherein the transmitter is a transponder and has an antenna that can be dynamically tuned and shifted in 5 KHz increments to form 5 KHz channels. ### Claim 7 (depends on 2) A system as claimed in claim 2 wherein the transmitter is a transponder that can send out a unique signal recognized by its partnered vehicle. ### Claim 8 (depends on 2) A system as claimed in claim 2 wherein the transmitter is a transponder that can send out a unique signal recognized by its partnered vehicle, and said signal is modulated by frequency shift keying at a rate of 300 Htz or 500 Htz with +/−1 Khz frequency shift. ### Claim 9 (depends on 2) A system as claimed in claim 2 wherein the transmitter is a transponder that can send out a unique signal recognized by its partnered vehicle, and said transmissions are not synchronized to avoid a situation where multiple simultaneous transmissions are received by a receiver. ### Claim 10 (depends on 2) A system as claimed in claim 2 wherein the drive mechanism includes a front wheel which steers the vehicle in accordance with the processor programming and two rear wheels each of which are operatively connected with a motor. ### Claim 11 (depends on 2) A system as claimed in claim 2 wherein the vehicle has a collision avoidance system that has a plurality of infrared ranging transceivers spaced about the vehicle. ### Claim 12 (depends on 2) A system as claimed in claim 2 wherein the vehicle has a collision avoidance system that has a plurality of infrared ranging transceivers spaced about the vehicle, the infrared ranging transceivers including infrared charge coupled device (CCD) range sensors located about the vehicle and being capable of detecting objects up to 1.6 meters from the sensor. ### Claim 13 (depends on 2) A system as claimed in claim 2 wherein the vehicle has a collision avoidance system that has a plurality of infrared ranging transceivers spaced about the vehicle, said collision avoidance system having an outer boundary set approximately 1.2 meters from the vehicle and an inner boundary set approximately 0.3 meters for the front of the vehicle and approximately 0.08 meters for the sides of the vehicle. ### Claim 14 (depends on 2) A system as claimed in claim 2 wherein the vehicle includes a satellite navigation system to assist in controlling the movement of the vehicle in a defined area. ### Claim 15 (depends on 2) A system as claimed in claim 2 wherein the vehicle has the capability of recording the operational time of the vehicle. ### Claim 16 (depends on 2) A system as claimed in claim 2 wherein the drive mechanism includes electrical motor driven wheels and the vehicle has an override system where the electrical current powering the wheels increases up to a threshold level to keep the wheels turning, wherein when the threshold level is reached or exceeded the current to the motor is stopped.