Abstract:
A foldable cart assembly having a user tracking arrangement so as to follow movement of the user during motion over a field. The cart assembly has a plurality of ultrasound and RF sensors in communication with corresponding sensors in a remote handset transmission device carried by the user. The sensors provide timing, direction and distance information to a central processor on the cart for instructing individual electrical motors empowering the respective direction and speed of rotation of the cart&#39;s wheels.

Description:
This application relates to portable, foldable, wireless signal-following trackable carts which may be utilized as golf carts, as grocery carts, as supply carriages or as delivery vehicles, farm vehicles/equipment and in medical facilities for tracking transportation therewithin, and is based upon our U.S. Provisional Patent Applications No. 61/628,039, filed Oct. 21, 2011, and 61/633,359, filed Feb. 9, 2012, each being incorporated herein by reference in their entirety, and our co-pending brother U.S. Patent Application number (FoldableCart-10NonProv) co-filed herewith on 15 Aug. 2012 also incorporated herein by reference in its entirety 
    
    
     DISCUSSION OF THE PRIOR ART 
     Foldable and collapsible carts and particularly collapsible golf carts have been around for many years. Examples may be seen for instance and U.S. Pat. No. 5,749,424 to Reimers; U.S. Pat. No. 4,793,622, to Sydlow; and U.S. Pat. No. 4,418,776 to Weirick. Some of these carts are even self powered, as for example U.S. Pat. No. 4,106,583 to Nemeth and of course the “Segway”™ vehicle shown in U.S. Pat. No. 7,958,961 to Schade. These prior art carts are limited in their foldability and the collapsability, wherein their ultimate collapsed size would not permit them for instance to be carried aboard an airliner and stored in an overhead compartment. Further, the prior art fails to disclose a uniquely trackable, user-followable, collapsible cart as identified herein as the present invention. 
     It is thus an object of the present invention to overcome the disadvantages of the prior art. 
     It is a further object of the present invention to provide a mobile four wheeled cart arrangement capable of multiple down-size foldings, capable of minimal storage requirements. 
     It is yet a further object of the present invention to provide a mobile cart which is capable of tracking (following) a user behind that user yet staying within/along the same exact path the user has taken. 
     It is yet another object of the present invention to provide an autonomous mobile cart which is capable by a first tracking means, of following the path of a user responsive to and according to a transponder carried by and controllable by the user. 
     It is still yet a further object of the present invention to have the cart circumnavigationally avoid obstacles in its path by a second automatic, directional control means. 
     BRIEF SUMMARY OF THE INVENTION 
     The present invention relates to a motor driven, autonomously directed and controlled, foldable cart assembly which articulates from a fully opened, supportive frame assembly into a compact and carryable mechanism which in one preferred embodiment could be stored for example, as a “carry on” for storage for example, in an overhead bin in an airliner, within a linear length of about 45 inches. 
     The foldable cart assembly of the present invention comprises a lower base frame of aluminum or magnesium aluminum alloys having a first or front end and a second or rear end. The lower base frame in a first embodiment comprises a rail arrangement extending longitudinally from the front end to the rear end thereof. A pivot means is arranged generally at a midpoint of the base frame. A transverse axle member extends across the rear end of the lower base frame. A free wheeling coaster wheel is pivotally supported at each end of the rear end transverse axle member. 
     The lower base frame has the pivot arrangement along a mid-portion thereof, to permit articulation thereof. The front end of the lower base frame has an axle arrangement extending thereacross. A rotatably empowered, independently controlled wheel is arranged at each end of the front end&#39;s transverse axle arrangement. 
     Each independently controlled wheel at each end of the transverse axle arrangement is independently controlled by a microprocessor as to each wheel&#39;s speed and as to each wheel&#39;s independent direction of rotation, by each drive wheel having a computer controlled electronic drive motor thereconnected. A housing arranged supportively on the front end of the lower base frame encloses a control computer, the drive wheels&#39; motor controls, and a power supply unit. The control computer within that housing receives information through a proper circuit, from a multiple sensor arrangement installed within the cart assembly. 
     A pair of upwardly directed, generally parallel, curved side bar frame members extend away from the pivot axis arrangement disposed at the mid-portion of the lower base frame arrangement. The upwardly directed curved side bar frame members have a distal end with a transverse support bar extending therebetween. This transverse support bar also functions as an interiorly tucked away carrying handle when the cart assembly is collapsed. 
     A pair of mid-frame members have a first (or lower) end which pivotally extend from the ends of the transverse support bar. The mid-frame members have a second (or upper) end which is attached to the mid-frame support axis. A “U” shaped handle is pivotally arranged onto the respective ends of the mid-frame support axis. A tightenable knob or hub is arranged at the juncture of the mid-frame members and the U-shaped handle so as to permit the adjustable securement into a fixed position that U-shaped handle with respect to the parallel, upwardly directed (during cart assembly use) mid-frame members, or into a down-folded orientation during carrying or storage of the cart assembly. 
     The lower base frame member has a strap arrangement to secure any baggage such as, for example, a golf club bag. 
     A generally L-shaped bracket is attached to a midpoint of each of the upwardly directable frame members and extend toward the front end of the cart assembly, and also extend generally parallel to the lower base frame arrangement. Each L-shaped bracket is spaced transversely apart from one another a specific distance, for computational purposes of the computer control unit. These L-shaped brackets include portions of the sensor arrangement within the cart assembly. Each L-shaped bracket has a distal end with an ultrasound sensor member of the multiple sensor arrangement preferably arranged therewithin. 
     The ultrasound sensor member component of the multiple sensor arrangement, in one preferred embodiment is arranged on/in the cart assembly for example, to detect tracking targets such as the user holding a tracking target device (handset), obstacles including sand pits, water and any sort of travel-blocking entity. A second sensor member, such as for example, an RF (radio frequency) sensor member, may also be arranged on/in the cart assembly or for example, in the housing, to function as a timer, to “set the clock” in conjunction with the monitoring of the ultrasound sensor arrangement&#39;s responses for following the ultrasound action, for ultrasound control of direction and position through the central processing unit for setting and controlling the cart assembly&#39;s direction (path) and speed. Precise tracking of positions of for example, a golfer using this cart arrangement, is accomplished by a pair of spaced apart ultrasound sensor transceivers in a phase differential manner, and by the ultrasound sensor array for detection and controlled avoidance of obstacles nearby or crossing the cart assembly&#39;s path. The ultrasound sensor arrangement is mounted in the spaced-apart manner on the frame of the cart and interacts with the RF transponder carried in a remote device by the cart&#39;s user. These transponders and the RF sensor arrangement continuously triangulate a signal between the cart and the remote device of the cart&#39;s user, so as to enable the precise tracking of a user&#39;s path by the cart assembly, because the cart&#39;s user is carrying the remote transponder. 
     Those ultrasound and RF transponders of the sensor arrangement are in proper electrical communication through a circuit connected with the control computer (CPU) preferably arranged within the housing which is secured at the second end portion of the lower frame member. The multi-sensor arrangement thus enables the cart assembly to autonomously follow the path of, for example, someone leading or someone directing the way, such as for example, on a golf course, with a (remote control) location-transmitting transponder handset device. The transversely separated ultrasound sensors each send and receive a common signal relative to the location transmitting remote transponder device carried for example by a golfer or the like, whereupon the control computer triangulates that differentially received and timed return signal (with the RF sensor) with the target&#39;s (transponder) angle, so as to appropriately effect the rotation of the drive wheels, both as to the rotational direction and as to the rotational speed, thereby controlling the path to be taken by the cart assembly. Once the CPU performs its calculations, it effects the driving of the powered wheels which each have a microprocessor for effecting their respective speed and rotational direction. 
     The ultrasound signal generator arrangement (of the two sensor configuration) is mounted on the cart, and is in communication with the remote carried handset transponder and with the central processing unit (CPU), which CPU is also in communication with the two ultrasound transponders through the CPU. The cart arranged RF transponder provides a trigger time and permits the measure of the time between the return signals of the ultrasound transponders, so as to provide the basis of the CPU to instruct the independently empowered drive wheels as to direction of rotation and to speed of rotation. The ultrasound signal communication arrangement detects tracking targets, obstacles, water, sand traps, blockages, and they also provide a measurement of distance to an item. Based upon the travel time and sound speed, the CPU continuously calculates the path and the distance between the remote device carried by the cart&#39;s user and the sensor on the cart, using triangulation, the distance and direction between the cart and the cart user (i.e. golf player) may be determined, and provides proper instructions to be transmitted to the microprocessor controlled drive wheels, to properly maneuver the cart on the field of play to follow the user&#39;s path or follow the user&#39;s inputted RF instructions into the control handset for a path for the cart to follow. 
     The control algorithm is based on that feedback from the sensors. By knowing the distance and direction at anytime (or all the time), the CPU keeps track of the player&#39;s walking path. For short distances, the CPU instructs the cart to closely follow the player&#39;s walking path. For longer distances, the CPU may provide commands to go to the player on a shorter path, and to follow the player within a proper distance. 
     The combined RF and ultrasound sensor arrangement thus provides proper feedback to the control computer (central processing unit-CPU) so that the control computer may also further control the direction of rotation and speed of each individual drive wheel so as to avoid obstructions in the path of the card assembly, yet still properly follow the location transmitting device through a non-linear path, if need be. Thus the modes of operation of the system of the present invention comprise: constant communication with user, the following of person “1” (user), and the trajectory followed, so the cart will avoid obstacles and not stray into the wrong territory, such as a pond, a tree or the like where the user would not have walked/travelled. 
     By way of explanation, ultrasonic range finding is use of ultrasound is also called sonar (sound navigation and ranging). This works similarly to radar (radio detection and ranging): An ultrasonic pulse is generated in a particular direction. If there is an object in the path of this pulse, part or all of the pulse will be reflected back to the transmitter as an echo and can be detected through the receiver path. By measuring the difference in time between the pulse being transmitted and the echo being received, it is thus possible to determine how far away the object is. 
     One aspect of the present invention is that the remote device may be instructed to send the cart towards the next position, for example, the next “hole” on the golf course by manual input of movement directions or instructions to be undertaken in real time as the cart is moving, by input means into the remote device from the user/holder of the remote device to the RF transceiver on the cart. It is to be noted that the cart may also become a push cart when the power is turned off. 
     A fifth or “safety” wheel is pivotally supported off of a “J”-shaped axis extending longitudinally from a pivot arrangement on the second end of the cart assembly. The fifth wheel acts so as to prevent an overturn of the cart assembly if it were going up an incline or needed further balance. 
     The cart assembly is articulable so as to be folded inwardly upon itself about its various pivot axes so as to be collapsible into a very compact configuration. The U-shaped handle at the upper end of the parallel frame members may be pivoted about its transverse axis so as to swing in that U-shaped handle rearwardly or forwardly as necessary. The lower base frame is foldable about its pivot arrangement located along its mid-portion. The upwardly directed frame members, having that transverse pivot axis arranged about one third of the way up from the lower base member may in itself be pivoted around that transverse pivot axis to further compact the cart assembly. 
     The entire cart assembly is ultimately carryable by the transverse pivot axis arranged between the upwardly directed frame members, thus functioning as a carry handle. 
     The invention thus comprises a foldable four wheeled load carryable cart assembly system comprising: an elongated lower base frame arrangement having a set of wheels on a first half-end thereof, and a set of empowered computer controlled drive wheels on a second half-end thereof; a plurality of pivotable frame portions extending from one side of the second half end, wherein the first half end and the second half end of the lower base frame arrangement is foldable about a generally centrally located pivot axis thereon, and the plurality of pivotable frame portions are foldable about a set of intermediate spaced-apart pivot axes to permit the cart assembly to be folded into a compact hand-carryable configuration; and wherein the cart assembly system includes a wireless user- tracking arrangement thereon, and wherein the wireless user-tracking arrangement electronically instructs an onboard central processing unit computer to control the empowered drive wheels as to rotational direction and rotational speed, to permit the cart assembly to track and follow movement of a system&#39;s user during a user&#39;s path of motion. The system includes a user-carryable wireless transponder for transmitting wireless signals about a user&#39;s location to the wireless user-tracking arrangement on the cart assembly. The tracking arrangement includes a pair ultrasound transponders arranged to communicate positional signals with the user-carryable wireless transponder. The tracking arrangement includes a radio frequency transceiver for providing timing for ultrasound signals utilized by the central processing unit computer in the cart assembly. The ultrasound sensor arrangement transmits obstacle-avoiding signals to the central processing unit computer for the cart assembly to avoid obstacles in the path of the cart assembly. The ultrasound sensors are supported in a horizontally spaced-apart configuration on one set of frame portions to provide communicated-signal triangulation capability to the onboard central processing unit computer. An independent drive motor is arranged for each drive wheel of the cart assembly. 
     The invention also includes a process for controlling the track, speed and direction of a collapsably foldable, central processor unit controlled, electronically motorized, individual drive wheeled, cart assembly system for use by a cart assembly user in a field of play, comprising: arranging a pair of spaced-apart wireless ultrasound transponders on a frame portion of the cart assembly; providing a carryable wireless location ultrasound transceiver device to a user of the cart assembly; sending a pair of corresponding ultrasound signals from the ultrasound transponders on the cart assembly to and receiving returned back ultrasound signals from the location transceiver device carried by a user; timing the pair of received ultrasound signals received back to the cart assembly by an onboard RF transponder; communicating the signals received by the ultrasound transponder and the RF transponder to the central processing unit computer; and triangulating the signals so as to govern the electronic instructions to the individual drive wheels for the cart assembly to follow the user carrying the transponder device. The method includes: sensing motion and direction of a remote device carried by a user of the system; instructing drive wheels on the cart pursuant to sensed direction, speed and distance of the user carrying the remote device; operating the carryable device as a remote control to instruct the cart assembly to a user-desired site. The instruction to the individual drive wheels from the central processing unit is different for each wheel. The instruction to the individual drive wheels includes an instruction to rotate at different speed from one another. The instruction to the individual drive wheels may include an instruction to rotate at different direction from one another. 
     The invention also comprises a collapsible wheeled load carryable autonomously mobile cart assembly system comprising: an articulable lower frame having at least two independently empowered drive wheels thereon; an articulable upper frame, with a first and a second sensor transponder arrangement thereon; and a central processing unit on the cart assembly to instruct the empowered drive wheels as to rotational requirements upon receipt of the central processing unit receiving time, direction and distance information from the first and second sensor transponder arrangement; a user carryable handset for receiving and for transmitting position signals with respect to the user and the cart assembly, wherein the first sensor arrangement consists of a pair of spaced apart ultrasound signal trasnponders for communication with an ultrasound transponder in the carryable handset. The first sensor arrangement consists of an RF signal transponder in communication with an RF transponder on the carryable handset. The RF signal transponder in the cart assembly provides a time stamp instruction to the ultrasound signals communicated to the central processing unit in the cart assembly. The articulable upper frame is divided into multiple sections for rotatable collapse into a hand carryable configuration with a collapsed lower frame therebeneath. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of the tracking foldable cart assembly in an open and unloaded configuration; 
         FIG. 2  is a schematic representation of the control system for the cart and the remote device held/carried by the cart&#39;s user; 
         FIG. 3  is a flow chart relative to the schematic shown in  FIG. 2 ; 
         FIG. 4  is a depiction of the circuit for the movement control module; 
         FIG. 5  is a depiction of the circuit for the sensor control module; 
         FIG. 6  is a representation of the circuit of the power voltage regulator module; and 
         FIG. 7  is a representation of the cart assembly tracking and following a user along the user&#39;s path. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring now to the drawings in detail, and particularly to  FIG. 1 , there is shown the present invention which comprises a computer controlled, motor driven, autonomous, directed and controlled,. foldable cart assembly  10  which articulates from a fully opened, supportive frame assembly into a compact and carryable mechanism which in one preferred embodiment could be stored for example, as a “carry on” for storage, for example, in an overhead bin in an airliner, within a linear length of about 45 inches, as shown more closely, in the figures of our separate corresponding patent application, Foldablecart-10NonProv, incorporated herein by reference in its entirety. 
     The foldable cart assembly  10  of the present invention comprises a lower base frame  12  of aluminum or magnesium aluminum alloys having a first end  14  and a second end  16 . The lower base frame  12  in a first embodiment comprises a rail arrangement extending longitudinally from the first end  14  to the second end  16  with a collapse pivot arrangement  22  at a midpoint thereof, as may be seen in  FIG. 1 . A transverse axle member  18  extends across the first end  14  of the lower base frame  12 . A free wheeling coaster wheel  20  is pivotally supported at each end of the front transverse axle member  18 . 
     The lower base frame  12  has the pivot arrangement  22  along a mid-portion thereof, to enable articulated collapsible-carry of the cart assembly  10 . The second end of the lower base frame  16  has an axle arrangement  24  extending thereacross. A rotatably empowered, independently controlled wheel  37  is arranged at each end of the second end&#39;s transverse axle arrangement  24 , as shown and described in our separate patent application, incorporated herein by reference in its entirety. 
     Each independently controlled wheel  37  at each end of the transverse axle arrangement  24  is independently controlled by a microprocessor  39  being controlled by the central processing unit computer arrangement  30 , (CPU—represented in  FIG. 2 ), as to each wheel&#39;s speed and as to each wheel&#39;s independent direction of rotation, by each drive wheel  37  having its own computer controlled electronic drive motor. A housing  28  arranged supportively on the second end  16  of the lower base frame  12  encloses the control computer CPU arrangement  30 , the drive wheels&#39; motor controls, and a power supply unit, as represented in  FIGS. 2 ,  3 ,  4 ,  5  and  6 . The control computer arrangement  30  within that housing  28  receives information through a proper circuit  33 , from a combinational sensor arrangement (UT 1  &amp; UT 2 )  32  and (RF 1 )  54 , installed within the cart assembly  10 , as represented in  FIG. 3 . 
     A generally L-shaped bracket  50  is attached to a midpoint of each of the upwardly directable mid-frame members  34  and extend toward the second end  16  of the cart assembly  10 , and generally parallel to the lower base frame arrangement  12 . Each L-shaped bracket  50  is spaced transversely apart from one another a specific distance, for computational purposes of the computer control unit  30 . These L-shaped brackets  50  include the ultrasound transponder portions of the sensor arrangement  32  within the cart assembly  10 . Each L-shaped bracket  50  has its distal end with the first ultrasound transponder  32  of the combined sensor arrangement ( 32  and  54 ), as represented in  FIG. 2 . 
     The second sensor member  54 , such as for example, a radio frequency tramnsponder/generator (RF) may also be arranged on/in the cart assembly  10  or for example, in the housing  28 , for functioning as a timer or “clock” for the ultrasound transponders (UT 1  and UT 2 )  32 . By knowing the distance and direction of a player at anytime and at all time, during an activity, for example, a golf game, the microcomputer  30  can keep track of the player&#39;s “G” walking path “P”, represented in  FIG. 7 . For short distances, the microprocessor  30  provides instructions to the independent microprocessor  39  controlled and motor  24  driven wheels  37  to follow the golfer “G” almost exactly. For a long distances, the microcomputer may provide instructions to the wheels  37  to follow a shorter path, all based upon feedback into the control algorithm from the sensors  32  and  54 . 
     Precise tracking of continuous line of positions of for example, golfers using this cart arrangement, is accomplished by the ultrasound sensors (UT 1  &amp; UT 2 )  32  in a phase differential manner. The ultrasound sensor array  32  is utilized for detection and controlled avoidance of obstacles “ 0 ” nearby or crossing the cart assembly&#39;s path. The RF sensor arrangement  54  is mounted on the cart assembly  10  and interacts via RF signals sent and received with respect to an RF transponder in the remote handset device “T”, represented in  FIGS. 1 and 2 , carried apart from the cart assembly  10  by the cart&#39;s user “G”, as may be represented in  FIG. 7 . The transponder and the RF sensor arrangement continuously triangulates a signal “S”, represented in  FIGS. 1 and 7 , between the cart assembly  10  and the remote handset device “T” of the cart&#39;s user, so as to enable the precise establishing and the tracking of a path “P” by the cart assembly  10 , of the cart&#39;s user “G” carrying the remote transponder “T” as represented in  FIG. 7 . 
     Those first and second ultrasound transponders (UT 1  &amp; UT 2 )  32  of the sensor arrangement are in proper electrical communication through the circuit  33  connected with the control computer (CPU)  30  preferably arranged within the housing  28  which is secured at the second end  16  of the lower frame member  12 . The multiple ultrasound sensor arrangement  32  thus enables the cart assembly to autonomously follow the path “P” of for example, someone leading the way, such as for example, on a golf course, with a (remote control) location-transmitting transponder device “T”. The transversely separated first UT 1  &amp; UT 2  sensors  32  each receive a timed common signal “S” from the location transmitting remote transponder device “T” carried for example by a golfer “G” or the like, whereupon the control computer CPU  30  triangulates that differentially received and timed (through the RF sensors time stamping) signal with the target&#39;s (transponder) angle, so as to appropriately effect the individually different rotation of the drive wheels  37 , both as to rotational direction and as to rotational speed, thereby automatically steering and thus controlling the path “P” to be followed, i.e. taken by the cart assembly  10 . Once the CPU performs its calculations, it effects the driving of the individually powered wheels  37  which each have a microprocessor controlling their respective speed and rotational direction. 
     An RF signal generator arrangement (RF  1 )  54  (the second sensor configuration utilized in the present invention) is mounted in the cart assembly  10 , and is in communication with an RF transceiver RF 2  in the remote carried transponder “T” represented in  FIGS. 2 and 5 , and with the central processing unit (CPU), which CPU is also in communication with the two ultrasound transponders  32  through the computer control arrangement (CPU)  30 . The RF transponder  54  provides a trigger time which permits the measurement of the time between the signals of the ultrasound transponders to provide the basis of the CPU to instruct the independently empowered drive wheels as to direction of rotation and to speed of rotation. The ultrasound signal communication arrangement (UT  1  &amp; UT 2 )  32  emits sound signals for radar-like detection and alerts the cart assembly  10  as to avoidance controls of tracking targets, obstacles, water, sand traps, blockages. The ultrasound signal communication arrangement  32  may also provide a measurement of distance to an item. Thus, based upon the travel time and sound speed, the CPU constantly calculates the distance between the remote device “T” carried by the cart&#39;s user and the sensor on the cart, using triangulation, wherein the distance and direction between the cart and the cart user (i.e. golf player) may be determined, and proper instructions transmitted to the microprocessor controlled drive wheels, to properly maneuver the cart on the field of play. The control algorithm instruction is based on that feedback from the sensors  32  and  54 . By knowing the distance and direction at anytime (or all the time), the computer control arrangement (CPU)  30  keeps track of the player&#39;s walking path. For short distances, the CPU instructs the cart to closely follow the player&#39;s walking path “P”, as represented in  FIG. 7 . For longer distances, the CPU may be instructed to provide commands to go to the player on a shorter more direct path, and to follow the player within a proper distance. 
     The combined RF and ultrasound sensor arrangements  54  and  32  thus provides a proper feedback to the control computer (CPU)  30  so that the control computer may also further control the direction of rotation and speed of each individual drive wheel and also to avoid obstructions in the path of the cart assembly, yet still properly follow the location transmitting device through a non-linear path, if need be. Thus the modes of operation of the system of the present invention comprise: constant communication with user, the following of person “ 1 ” (user), and the trajectory followed, so the cart will avoid obstacles and not stray into the wrong territory, such as a pond, a tree or the like. 
     Another aspect of the present invention is that the remote device may be instructed to. send the cart assembly towards the next position, for example, the next hole “H” on the golf course, via RF inputted instructions from the user&#39;s carried device “T” to the RF Transceiver on the cart  10 , for communication through the CPU to the drive wheels  37 . The cart assembly may also, in a further embodiment, become a push cart when the power is turned off. 
     The cart assembly  10  is articulable so as to be folded inwardly upon itself about its various pivot axes  22 ,  44  and  36 , so as to be collapsible into a very compact configuration. The U-shaped handle  38  at the upper end of the parallel mid-frame members  34  may be pivoted about its transverse axis  36  so as to adjustably swing in that U-shaped handle  38  rearwardly or forwardly as necessary, or to collapse the cart assembly  10  entirely into a carryable configuration. The lower base frame  12  is foldable about its pivot arrangement  22  located along its mid-portion. The upwardly directed mid-frame members  34 , having that transverse pivot axis  44  arranged about one third of the way up from the lower base frame member  12  may in itself be pivoted around that transverse pivot axis to further compact the cart assembly  10 . 
     The entire cart assembly is ultimately graspable/carryable by the transverse pivot axis  44  arranged between the curved side bar members  35  and the upwardly directed mid-frame members  34 , thus functioning as a carry handle, once the sections have been articulably folded onto themselves.