FR2943436A1 - Mobile vehicle i.e. three-wheeled golf trolley, position controlling device, has global positioning system receiver receiving geographical position data, and calculator determining control instruction of mobile vehicle - Google Patents

Abstract

The device has a global positioning system receiver (15) and a compass (16) placed at a side of a mobile vehicle (1), and another global positioning system receiver (24), a calculator (20) and a non-volatile memory (21) placed at a side of a mobile user (2). The receiver receives geographical positioning signals, and the compass determines angular position of the mobile vehicle with respect to a reference direction. The latter receiver receives geographical position data, and the calculator determines a control instruction of the mobile vehicle. Independent claims are also included for the following: (1) a method for controlling a mobile vehicle with displacement of a user (2) a computer program comprising instructions to perform a method for controlling a mobile vehicle with displacement of a user.

Description

 Device and method for servoing the position of a golf cart at the golfer's position

The present invention relates to the field of driving mobiles. It relates more particularly to self-controlled mobile according to a predetermined logic. Even more specifically, the invention relates to a means to ensure that a golfer's carriage, which carries his bag, his clubs and other accessories, automatically follow him along his course. The golf players are usually faced with the inconvenience of having, after each move played, pick up their trolley (caddy in English), put away the club with which they have just played, and then pull this trolley along the course until their next game position. A complete golf course then translates into several kilometers of handling the cart while walking.

Recall that such a truck, which weighs a few pounds when loaded, typically comprises a tricycle base supporting a light structure, adapted to receive a golf bag posed in an inclined manner. Electric devices for driving golf trolleys have been developed, thus making it possible to limit the effort of the user to manually guide his trolley. In the same vein, trolleys in the form of carts, driven by assistants, have been developed, but are reserved for a relatively affluent public. Golf carriages remotely controlled by an operator are also known, this arrangement possibly allowing several trolleys to be remotely controlled by the same remote operator. Their audience is naturally limited by the cost of time of the person managing the trolley. There are also known devices for controlling the position of a motorized golf cart at the position of the golfer, using for the calculation of the respective positioning of the radio frequency means.

Such a device is for example described in US 5,810,105 (1998). In this document, a golf cart is equipped with a transmitter and two ultrasonic receivers, the golfer being carrying an ultrasonic transponder. In this configuration, the distance and orientation of the golfer with respect to the carriage are determined by the times of reception of the ultrasound signal by the two receivers. A servo can then be created between the position of the golfer and that of the cart, the latter following the golfer as soon as it moves away beyond a threshold value. The patent application document FR 2 868 560 (2007) describes a particular implementation in which the signal received is obtained by reflection of the signal transmitted on the golfer (which prevents said golfer wearing a tag on him), and in which the carriage stays in front of the golfer instead of following it. A distance calculation is performed in a conventional manner, which allows the carriage to maintain a predetermined distance from the golfer.

Today, the proposed devices use a sophisticated logic of calculation allowing to take into account natures or variable inclinations of soil, to smooth the acceleration and slowdowns of the golfer, to avoid the obstacles natural or mobile etc.

All of these devices have the common problem of being very expensive because they require sophisticated devices or dedicated personnel. It is clear that all these systems have a mixed commercial success, because of their limited cost or capacity or their too servile monitoring trajectories. They are also based on a relative calculation of angular position and distance between the golfer and his cart. They can not take into account in advance the specificities of a course. Similarly, they can not learn from one another the obstacles of a course if a golfer returns to the same course regularly. They are therefore limited by their design. They are also limited to a mode of servile tracking of the golfer by the cart, with a small distance between the two.

Finally, the carriage can be stopped in the golfer's axis of play. The objective of this invention is then to provide a driving device for a golf cart servocontrolled to the position of a golfer, and significantly less expensive than existing devices.

According to a second objective, the invention makes use of a determination of absolute geographic position of the golfer and the carriage. According to a third object of the invention, it makes it possible to take advantage of data from a geographically referenced database relating to golf courses.

According to another object of the invention, it allows a memorization of the path actually taken on a path, and various associated parameters.

For this purpose, the invention relates to a device for controlling the position of a mobile vehicle at the position of a user who is also mobile, said vehicle comprising means for translational movement along a main axis, and in rotation, control means for these displacement means, and means for receiving driving signals from these control means, the device comprising: on the vehicle side, means for receiving geographical positioning signals, means for determining angular positioning relative to a reference direction, on the user's side, means for receiving geographical positioning data, means for calculating driving instructions for the mobile vehicle and storage means.

Preferably, the device comprises: on the vehicle side, means for transmitting signals characteristic of its position towards the user, on the user's side, the calculation and storage means, as well as means for receiving signals position issued by the vehicle

4 mobile, and means for issuing driving instructions to the mobile vehicle.

According to preferred implementations possibly used together: the means for receiving geographical positioning data of the vehicle and the user are of the GPS receiver type; the means for transmitting signals characteristic of the position of the moving vehicle towards the the user, the means for receiving position signals transmitted by the mobile vehicle, the means for transmitting control signals to the mobile vehicle are of the Bluetooth / GSM or Wi-Fi transmitter / receiver type, the user-side means are grouped together in a PDA-type assembly, the mobile vehicle further comprises short-range obstacle detection means. It will be understood that this is in fact a particular version of a radio-controlled golf cart, in which the commands are calculated and issued by a PDA type handheld computer, taking advantage of position information. absolute and possibly a georeferenced database. Therefore, both the radio controlled carriage and the PDA are already known devices, which are here simply configured for the intended application, which significantly reduces the cost of all. Similarly, the lack of need for anyone to control the tele-controlled cart obviously reduces the operating cost of the device. Choosing to locate the intelligence of the device in a user-worn accessory, instead of locating it within a computer carried by the cart, which is the case with current devices using relative positioning systems by radio, simplifies the design of the set and reduces its cost. This arrangement makes it possible to maintain a conventional radio-controlled type of carriage, and therefore to very simply adapt the device to an existing carriage, by adding to it a GPS receiver, a compass and a transmitter of this GPS data and heading towards the PDA of the user. It also enables the user to keep information about his past journeys by himself, and to adapt very quickly to any type of trolley, provided that his driving characteristics are previously stored by the user in his computer. PDA.

The invention also relates to a mobile vehicle for a device as described.

In a second aspect, the invention provides a method for controlling a mobile, according to the movements of a user, for a device as described, the method comprising steps performed at predetermined recurring intervals: - determination of absolute positions of the user and the mobile relative to a given geographical reference, - determining, at these times, the angular position of the mobile vis-à-vis this geographical reference, - calculating distance between the mobile and the user, and azimuth of the user relative to the main axis of the mobile, - determination of the current state of the user (stop, relative displacement distance or approximation), - determination of an action to be executed by the mobile according to the current state of the user and according to their relative positions, - translation of this action into commands of the moving means of the mobile, - storage of the positions of the user. and the mobile.

Advantageously, in the case where the mobile is tricycle type comprising a freewheel disposed substantially along the main axis of the mobile, and two main wheels arranged substantially symmetrically with respect to said axis, the moving means of the mobile in translation and in 6 rotation being constituted by two independent motors mounted on the two main wheels of said mobile, the method comprises, in the step of translating the command action of the mobile moving means, the determination of a sequence of commands of the two independent motors.

According to various advantageous implementations, possibly used together, in the step of determining an action to be performed by the mobile, if the user is in a state of stopping or small movements, the action is to stop the carriage, if the user is in a state of approximation, the action is to orient the mobile in an angular position previously stored to the user, 15 if the user is in a state of remoteness, the action is to follow the user.

Advantageously, in this case of monitoring the user, the method comprises, during the step of translating the command action, means 20 for moving the mobile, substeps of: comparison of the absolute positions with a base of previously stored geographic data comprising geographically referenced data relating to the sector on which the mobile and the user are located, calculating a probable path of the user and a next reference point of the user, determination of an optimum path of the mobile to a stopping point near the next reference point of the user, according to a previously stored criterion, and according to the data of the database 30 geographically referenced. It is understood that it is for example wise, if the user is a golfer who chooses to cross a difficult to passable area to save time towards his next move, not to follow because of mobile mobility limitations, but at otherwise circumvent the non-passable sector (provided it is determined as such in the geographically referenced database) to find the user near his predictable exit point beyond that sector.

Similarly, if the golfer goes to a bunker, whose sandy soil is unfavorable to the movement of the mobile, it is desirable that the mobile determines a stopping point on the edge of the bunker, and of course off the axis of play of the golfer.

Advantageously, in the case where the mobile is a golf cart and the user is a golf player performing a course, the geographic database BDG includes the coordinates of the holes of the course, and in the step of determining a action when the user is in a state of stop or small movements, the method comprises a substep of determination by the computer of the hole that the user is aiming for and a determination of an exclusion zone (the line of likely aim of the player) in which the cart must not stop.

These capabilities are lacking in all prior systems except when a human driver is associated with the carriage. They require an absolute positioning of the mobile and the user, as envisaged in the present invention.

Another aspect of the invention is a computer program comprising program code instructions for performing the steps of the method as set forth when said program is run on a computer.

The following description, given solely by way of example of an embodiment of the invention, is made with reference to the appended figures in which: FIG. 1 is a flowchart of the method according to the invention, the 2 schematically illustrates the elements used in the method according to the invention, Figure 3 shows an example of a golf cart used in the context of the present invention. As seen in Figure 2, the device comprises in this example two parts, the first consists of a golf cart 1, and the second of a user module 2. These two elements are normally distant less about ten meters in normal use of the device. The golf cart 1 which is discussed here is of the type known for its general form. It may be a remotely controllable golf cart of a type known per se.

It is organized around a support structure 10, adapted to carry, inclined at approximately 45 °, a golfer's bag containing a set of golf clubs, open at its upper part, and possibly various other golfer's accessories. . The golf trolley 1 is here shaped tricycle (Figure 3), having a symmetry along a vertical plane XZ oriented about a longitudinal axis X forming a reference direction and normal movement of the carriage. In this configuration, when the golf trolley 1 is loaded with a golf bag, it is inclined substantially at 45 ° with its upper opening disposed towards the rear portion of the golf trolley 1.

It is clear that any other type of motorized trolley could also be used in the context of the present invention, without any significant modification of its principle. The dimensions of the golf cart 1 here considered, given for information, are about one meter long, one meter high and sixty centimeters wide. The structure of the carriage 1 then comprises a front wheel 12 free to rotate and two rear wheels 14g, 14d independently powered by two electric motors 11 d, 11 g. These wheels 14g, 14d, 15, wide tire type, have a diameter of about twenty centimeters. They are adapted to a movement on grass mainly. The electric motors 11 d, 11g driving these rear wheels 14d, 14g are, in this example in no way limiting, switching power supply type.

They are powered by a battery 13 of conventional type, sufficient capacity to ensure autonomy representing the length of a significant number of golf courses. A control electronics 14 controls the two electric motors 11d, 11g. It is understood that by controlling different movements to the two electric motors 11g, 11d, a rotational movement of the golf cart is determined, whereas by controlling identical movements of the two electric motors, a movement of the carriage in its direction is determined. Longitudinal X. The golf cart 1 and its electric motors 11, 12 drive 10 are of type well known to those skilled in the art and are therefore not detailed further here.

In the present invention, the golf cart 1 also comprises (FIG. 2) a GPS receiver 15 of geographical positioning data. Such a device, adapted to provide sub-metric accuracy in position on the terrestrial sphere, is known per se and readily available commercially. The golf cart 1 further comprises a compass 16, of the type adapted to provide in the form of an electronic signal an offset value between the longitudinal direction X of the golf cart 1 and the north direction. It also includes a radio receiver 17 of conventional type, as well as a radio transmitter 19. These transmitter and receiver are short-range, and in this example Bluetooth type. They may alternatively also be GSM or Wi-Fi type. They are intended for communication with the user module 2, at most a few tens of meters apart. The golf cart 1 is also provided with a set of obstacle sensors 18, of the type of ultrasonic sensors used in particular in the automotive field as an aid for the driver during the garage of his vehicle. Such sensors are very cheap today. The data from the GPS receiver 15, the compass 16, the obstacle sensors 18 are transmitted via a connector (not detailed in the figures) to the transmitter 19, which transmits them to the user module 2 , continuously or at regular intervals, for example every second. In the same way, the control electronics 14 is able to receive control instructions received by the radio receiver 17 and transmitted by the user module 2. This user module 2 is in the form of a personal electronic assistant. Pocket phone-PDA type. It is stored in a pocket of the user, and it is admitted that the geographical position of this user module is similar to that of the user himself. In practice, the error of twenty to thirty centimeters represented by this assumption has no impact on the steering of the golf cart 1, which is located a few meters from the user module 2. Therefore, we will speak indifferently in the following the user position description or the user module position. In the implementation described here by way of non-limiting example, this one (FIG. 2) is of the type comprising a calculator 20, provided with a non-volatile memory 21, a display screen 22, a keyboard possibly under touch-screen form 23, a GPS receiver 24, a proximity transmitter / receiver 25, Blue-Tooth technology, and a cellular telephone transmitter / receiver 26, for example of GSM standard. Personal assistants of this type are known to those skilled in the art, and are therefore not discussed further here. By its Bluetooth proximity transmitter / receiver, the user module 2 is adapted to receive the data of the golf cart 1, and to send him control commands of its displacement motors 11 g, 11 d. The memory 21 of the user module 2 comprises, among others, a mobile control software 1 intended to implement the method according to the invention, a BDG geographical database, and a BDT working database. The geographic database BDG comprises, for example, data series characterizing golf courses, in the form of 30 gpx, nmea or other files. Such data series are known to those skilled in the art, and are generally downloadable via the Internet to a PDA or other computer with a network interface.

11 The geographical database BDG also advantageously includes data defining the boundaries of particular areas such as bunkers (sandy areas on a golf course), ponds, woods, shrubbery or flower beds etc., which are generally not accessible to a vehicle mobile. This data is for example downloaded into the user module 2 via the Internet on sites dedicated to the practice of golf.

The BDT working database comprises a historical table capable of storing, at each instant of transmission of the position signals of the golf cart 1, the positions of the golf cart 1 and the user module 2, as well as the azimuth of the user module relative to the longitudinal direction X of the golf cart 1. It also includes a table_action_action history able to store for each of these moments, the action ordered to the golf cart.

As has been said, the control method of the mobile 1 is intended to be implemented in software form, executed by the computer 20 of the electronic assistant pocket user module 2.

This method comprises a series of steps (Figure 1) performed at regular intervals, for example every second in the present example adapted to the case of a golfer moving at walking speed: The first step 100 is intended to determine the absolute geographical positions of the user 2 and the golf cart 1 with respect to a known geographical reference, for example in the form of data of latitudes and longitudes. This determination is made by reading the data from the GPS receivers 15, 24 of the golf cart 1 and the user module 2. The second step 101 makes it possible to determine, at these same times, by reading the data from the compass 16 , the angular position of the golf cart 1 vis-à-vis the South-North direction.

From this data, the third step 102 is a calculation of distance D between the golf cart 1 and the user 2, and azimuth O of the user 2 with respect to the main axis X of the mobile 1 The next step 103 is to determine a current state of the user (stop or small movements, relative movement away or closer). A determination of stopping or small movements of the user is made for example by noting, by analysis of the table_statements_position of the database BDT work, that the positions of the user on the last ten seconds are included in an area of smaller dimensions than a previously stored threshold, for example three meters. In this case, the coordinates of this user stop position PAU; are stored in a stop_statements table in the job database. Naturally, a determination of displacement of the user is made by inverse criterion. In this case, the analysis of the vector representing the displacement during the last few seconds (two for example), characterizes a distance or a rapprochement with respect to the golf cart. The next step 104 is then a determination of an action to be performed by the mobile 1 according to the current state of the user 2 and the relative positions of the user 2 and the mobile 1, It is considered that, if the user does not move or not, he is playing a shot or analyzing the situation, and / or just waiting for another golfer to finish his game action. The golf cart is then immobilized . The corresponding action 104a is to stop the carriage 1.

Similarly, if the user is in a state of reconciliation, it is considered that it is directed voluntarily to the golf cart 1, in order to take a club. In this case, the action 104b is to orient the golf cart 1 so that the opening of the golf bag faces the user. If the user is, on the contrary, in a state of remoteness, it is considered that the user is heading to his next point of play, and the action 104c is to follow the user. The following step 105, adapted here to the particular case of tricycle trolley with two main wheels 14g, 14d motorized independently, consists of the

13 determining a sequence of commands of the two independent motors 11 g, lld to perform the action decided in step 104. For example, a sequence of instructions opposite the engines of the two main wheels rotates the golf cart on itself, until the azimuth O of the user relative to the carriage is 180 °, in the case of orientation of the carriage in a bag position towards the user. In this step, the information of the proximity sensors 18 are taken into account at each moment to avoid collisions of the golf cart 1 with another mobile or a golfer. In a first implementation, the golf cart 1 is stopped as long as the moving obstacle remains at a distance less than a previously chosen threshold, for example three meters. The current action is resumed next. In the same manner, the detection of a fixed obstacle (shaft, etc.) causes a modification of the carriage path so as to bypass the obstacle at a previously memorized safety distance, for example three meters. The method finally comprises a step 106 of storing the positions of the user 2 and the mobile 1 in the historical table positions and storage of the action conducted in the table_action_statements.

It optionally includes a memorization of the positions of the fixed obstacles encountered on the course.

The use of geographic data and absolute positions also makes it possible to memorize comfort data for the user, for example the total distance traveled on a given day, the distance remaining if the route traces are stored in the geographical database. , the length of the previous moves played, etc.

The scope of the present invention is not limited to the details of the above embodiments considered by way of example, but instead extends to modifications within the scope of those skilled in the art.

In an alternative embodiment, the computer 20 is arranged on

14 the golf cart 1, and the user module 2 simply comprises a GPS receiver 24 and a proximity radio transmitter 25. In this variant, the user module 2 transmits at regular intervals, for example every second, data characterizing its position. geometric, for example in the form of latitude and longitude, to the mobile 1. The remaining calculations of distance, action to be taken and sequence of instructions of the electric motors 11 g, 11 d, is mainly unchanged.

Advantageously, in the case of tracking the user who is moving away from the golf cart 1, the step 105 of translation of this action into a sequence of commands of the electric motors 11 g, 11 d includes taking into account obstacles to moving the carriage 1 on the path. This step then comprises substeps as follows: 105c-1 - comparison of the absolute positions of the user 2 and the carriage 1 with the geographical database BDG including geographically referenced data of non-passable areas for the golf cart 1 , 105c-2 - calculation of a probable trajectory of the user (assumed to walk in a straight line to his next point of play), and, in the event that this probable trajectory intersects a non passable zone for the golf cart 1, calculation a next reference point PR of the user, beyond the non-passable area, 105c-3 - determining an optimum path of the carriage 1 to a point near this next reference point PR of the user, bypassing the non-passable area by the shortest path.

In a variant associated therewith, if the geographic database BDG includes the coordinates of the holes of the golf course and the starting points of each course, it is possible in some cases to calculate a next probable reference point of the golfer (starting point of the next course for example, when the player leaves a green, which suggests that he has finished this shot), and order the carriage directly to this probable reference point.

Similarly, if the geographic database BDG has the coordinates of the holes of the course, the computer 20 can determine which hole is the user and therefore avoid stopping in the immediate vicinity of the line from the player to the next hole (likely axis of play).

It is understood that the present invention also applies to the case of a motorized supermarket trolley, slaved to the position of a customer in or outside the store. In this case, the geographical positioning system can be local with several fixed radio beacons arranged in the store (or outside for example on the parking), allowing the trolley and the customer to be positioned with a precision of the order of about ten centimeters between the rays. Logic of traffic lanes of trolleys in the warehouse with a defined direction (for example right-hand traffic of carts in each aisle), and of manual control resumption in case of affluence causing a blocking of the software, in the face of too many mobile obstacles, must then be implemented to complete the device and method described in the invention.

Claims (1)

CLAIMS1 ù Device for controlling the position of a mobile vehicle (1), at the position of a user (2) also mobile, said vehicle (1) having means (11a, 11b) of displacement in translation according to a main axis X, and in rotation, control means (14) of these displacement means, and means (17) for receiving driving signals from these control means, characterized in that the device comprises: on the side of the vehicle (1), means (15) for receiving geographical positioning signals, means (16) for determining angular positioning with respect to a reference direction, on the side of the user (2), means for receiving (24) geographical positioning data, calculation means (20) for driving instructions of the moving vehicle and storage means (21). 2 - Device according to claim 1, characterized in that the device comprises: on the side of the vehicle (1), transmission means (19) of signals characteristic of its position towards the user, on the side of the user ( 2), the calculation means (20) and the storage means (21), as well as means (24) for receiving position signals transmitted by the mobile vehicle, and means for transmitting (25) pilot instructions. to the mobile vehicle (1). 3 - Device according to any one of the preceding claims, characterized in that the means (15, 24) for receiving geographic positioning data of the mobile vehicle (1) and the user (2) are of the GPS receiver type. 17 4 - Device according to any one of claims 2 to 3, characterized in that the transmission means (19) of signals characteristic of the position of the mobile vehicle (1) to the user (2), the means of receiving (25) position signals emitted by the mobile vehicle, the transmitting means (25) for driving signals to the mobile vehicle are of the Bluetooth / Wi-Fi transmitter / receiver type. 5 - Device according to any one of Claims 2 to 4, characterized in that the means (20 to 25) on the user side (2) are grouped together in a set of electronic pocket assistant type PDA. 6 ù Device according to any one of the preceding claims, characterized in that the mobile vehicle (1) further comprises means for detecting obstacles (18) at short distance. Mobile vehicle (1) for a device according to any one of the preceding claims. 8 - A method of controlling a mobile (1), as a function of the movements of a user (2), for a device according to any one of claims 1 to 6, characterized in that it comprises steps performed to predetermined recurring intervals: 100 - determination of the absolute positions of the user (2) and the mobile (1) with respect to a given geographical reference (Lat, Lon), 101 - determination, at these moments, of the position angular a mobile (1) with respect to this geographical reference (Lat, Lon), 102 - distance calculation D between the mobile (1) and the user (2), and azimuth O of the user (2) with respect to the main axis X of the mobile (1), 30 103 - determining the current state of the user (stop or small movements, relative movement away or approximation), 15 18 104 - de determining an action to be performed by the mobile (1) according to the current state of the user (2) and according to the relative positions of the user (2) and the mobile (1), 105 - of translation of this action into commands of the moving means (11g, 11d) of the mobile, 106 - of memorizing the positions of the user (2) and mobile (1). 9 - Process according to claim 8, adapted to the case where the mobile (1) is tricycle type having a free wheel (12) disposed substantially along the main axis X of the mobile, and two main wheels (14d, 14g) arranged substantially symmetrically with respect to said said main axis X, the moving means of the mobile (1) in translation and in rotation consisting of two independent motors (11g, 11d) mounted on the two main wheels (14g, 14d) of said mobile. characterized in that the step 105 of translation of the action in control of the moving means of the mobile comprises the determination of a sequence of commands of the two independent motors (11g, 11d). 10 - Process according to any one of claims 8 to 9, characterized in that in step 104, determining an action to be performed by the mobile, if the user is in a state of shutdown or small movements, the action 104a is to stop the carriage. 11 û Process according to any one of claims 8 to 10, characterized in that in step 104, determining an action to be performed by the mobile, if the user is in a reconciliation state, the action 104b is to orient the mobile (1) in an angular position previously memorized to the user, 12. - Process according to any one of claims 8 to 11, characterized in that in step 104, determining a action to be performed by the mobile, if the user is in a state of removal, the action 104c is to follow the user. 13. Process according to claim 12, characterized in that the step 105 for translating the action into commands of the moving means (11 g, 11 d) of the mobile (1) comprises sub-steps of: Comparing the absolute positions of the user (2) and the mobile (1) with a previously stored geographic database comprising geographically referenced data relating to the sector on which the mobile and the user are located, 105c-2 - calculating a probable trajectory of the user and a next reference point PR of the user, 105c-3 - determining an optimum travel of the mobile (1) to a point close to this next reference point PR of the user, according to a previously stored criterion, and according to the data of the geographically referenced database. 14 - Process according to any one of claims 8 to 13, adapted to the case where the mobile is a golf cart and the user a golf player performing a course, characterized in that the geographical database BDG comprises the coordinates holes in the path, and in that in the step 104 of determining an action when the user is in a state of stopping or small movements, the method comprises a substep of determination by the computer 20 the hole the user is aiming for and a determination of an exclusion zone in which the truck must not stop. Computer program comprising program code instructions for performing the steps of the method according to any of claims 8 to 14 when said program is run on a computer.