【正文】 遙控機(jī)器輔助。車輛的防撞系統(tǒng)最好能有多個(gè)紅外線遠(yuǎn)程收發(fā)器。通常內(nèi)頻設(shè)定在0,01和1米之間，較為理想的是設(shè)定車輛前部為0,3米，車輛側(cè)邊為0,08米。最好車輛能通知遠(yuǎn)程監(jiān)控系統(tǒng)是否運(yùn)行時(shí)間正在接近指定的時(shí)間。當(dāng)車輛爬行一個(gè)非常陡的陡坡或車輛太重以及一個(gè)或多個(gè)車輪失去牽引力時(shí)越控系統(tǒng)最好能激活。BRIEF DESCRIPTION OF THE DRAWINGS圖紙簡(jiǎn)要描述In order that the present invention can be more readily understood and put into practical effect, reference will now be made to the acpanying drawings wherein:為了更好的理解本項(xiàng)發(fā)明并能付諸實(shí)踐，以下是關(guān)于圖紙的參考資料：Figure 1 is a photograph of a robotic golf caddy of the preferred embodiment of the invention。圖4 是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解；Figure 5 is another diagram of decisions with respect to the collision avoidance system。參照?qǐng)D1 ，展示的是一輛遙控機(jī)器三輪車，也就是球包車10，這輛車由一個(gè)遠(yuǎn)程收發(fā)器單元控制有多種模式。球包車電子系統(tǒng)有2根分開的天線11，定向系統(tǒng)，距離確定系統(tǒng)，車輛主機(jī)控制器，防撞系統(tǒng)，驅(qū)動(dòng)控制系統(tǒng)，電池和電源供應(yīng)，電線連接和外接電池充電器。The key functionality of the RTU is that it provides an RF transmitting location source for the Caddy receiver electronics and location system. As such its key function is to transmit an identifiable beacon signal that has a precise and consistent frequency that is uniquely coded as well, so that it is identifiable only by its respective Caddy. The unit housing is purpose designed to allow for best form fit and use and will have the following controls integrated onto a single printed circuit board housed internally : power switch (including range switch)。The power switch has a latching switch that requires positive and determined action to change state. The power switch will cause the internal electronics to power on. The power switch is integral with range switch and causes the RTU electronics to adjust the power output of the RF transmitter. The follow me mode switch will cause the internal electronics to activate the RF transmission of beacon.電源開關(guān)有一個(gè)關(guān)閉按鈕要求正面和確定的行動(dòng)來改變狀態(tài)。 follow me mode on。其外部充電器回路從無電到再次充滿2800mah的鎳氫電池最長(zhǎng)僅需6小時(shí)。 Follow Me Mode跟屁蟲模式There is a separate follow me switch which is either on or off. This mode of operation is the primary mode for use of the vehicle. The golf caddy is controlled by the respective RTU as both entities are keyed with the same radio frequency. When the RTU moves away from the caddy, the electronics system determines the direction and rate at which the RTU is moving and will control the drive mechanism to the rear wheel set and their respective motor drives such that the vehicle will follow the RTU at a rate and direction equivalent to the RTU39。當(dāng)遠(yuǎn)程收發(fā)器與球包車分離時(shí)，電子系統(tǒng)會(huì)確定方向并評(píng)估遠(yuǎn)程收發(fā)器移動(dòng)及控制后輪的驅(qū)動(dòng)機(jī)械及相關(guān)馬達(dá)驅(qū)動(dòng)，這樣車輛就會(huì)以一定的速度跟隨遠(yuǎn)程收發(fā)器并按照遠(yuǎn)程收發(fā)器的方向移動(dòng)。例如，如果佩戴遠(yuǎn)程收發(fā)器單元的高爾夫球員運(yùn)動(dòng)到的位置會(huì)讓處于跟屁蟲模式的車輛碰上異物或是移出相關(guān)處理器編程設(shè)計(jì)的區(qū)域之外，跟屁蟲模式就會(huì)不起作用且停止運(yùn)轉(zhuǎn)。這樣這樣單元就能被手動(dòng)調(diào)節(jié)到所需的停車位置。可以通過連接外部電源對(duì)主要的電池進(jìn)行充電。反向模式由車輛上的一個(gè)開關(guān)啟動(dòng)。當(dāng)高爾夫球員走向以及經(jīng)過相關(guān)球包車時(shí)，球包車會(huì)翻轉(zhuǎn)然后在預(yù)先確定的范圍之內(nèi)追隨高爾夫球員。The RTU is a portable transceiver system that when activated transmits the requisite signals to allow the caddy transceiver and location system to determine the location of the RTU and hence player. The RTU is powered by an internal battery which is replaceable and is rechargeable from a separate charger unit.遠(yuǎn)程收發(fā)器單元是一個(gè)可攜帶的收發(fā)器系統(tǒng)，啟動(dòng)時(shí)能傳送必須的信號(hào)讓車輛收發(fā)器和定位系統(tǒng)來確定收發(fā)器和高爾夫球員的位置。 reverse mode switch on/off.球包車有以下功能選擇：電源開/關(guān)/停車 主開關(guān)；跟屁蟲模式開/關(guān)；反向模式開/關(guān)。這個(gè)雙天線陣列會(huì)向2個(gè)分開的接收器提供2根分開的天線。The receiver may be a conventional Super Heterodyne type or may be a Near Zero IF type. The receiver sensitivity allows it to differentiate an ining wanted receive signal on its selected channel of operation down to a level of 90Dbm for a signal transmitted by the RTU at a distance of 4 meters from the RTU. The receiver provides an accurate RSSI analogue level proportional to the level of the received signal with such signal level being the aggregate of two measurements made from both antennae within a time frame of 20 [mu]seconds.接收器可以是常用的超外差接收器或者是零中頻接收器。接收天線是由一個(gè)調(diào)到最高，一根調(diào)低的2根天線組成，這2根天線成90度的異相操作。信號(hào)會(huì)組合成一個(gè)綜合RSSI讀數(shù)，每個(gè)接收器的輸出也會(huì)提供給相位比較器線路來比較2個(gè)信號(hào)的相位。 Caddy Location system (CLS)球包車定位系統(tǒng)The location system accepts analogue data from the caddy receiver which it processes on a continuous basis so as to be able to provide angular and distance location data in digital form to the system host controller. The signals are preprocessed (PLD processing) to provide the system host controller with an operational state. If the preprocessed signals indicate that the caddy is outside the desired distance, then the processor receives a default error signal thereby initiating a response by the caddy to reposition itself to its desired distance.定位系統(tǒng)接受來自球包車收發(fā)器的模擬信號(hào)，進(jìn)行持續(xù)處理后便能以電子形式向系統(tǒng)主機(jī)控制器提供角度和距離的定位數(shù)據(jù)。在此過程中，模擬數(shù)據(jù)不會(huì)改變，遠(yuǎn)程收發(fā)器單元沒有打開或在范圍之外時(shí)，CLS會(huì)發(fā)出遠(yuǎn)程收發(fā)器關(guān)閉或范圍之外的律動(dòng)給球包車主機(jī)控制系統(tǒng)。主機(jī)控制器會(huì)在移動(dòng)系統(tǒng)中運(yùn)用剎車裝置，這樣在遇到碰撞之前，球包車就會(huì)停止移動(dòng)并且會(huì)告知高爾夫球員為什么裝置會(huì)停止。感應(yīng)器提供的輸出是測(cè)量距離的模擬電壓表示。例如，即使異物在遠(yuǎn)程收發(fā)器和球包車之間，我們也能防止球包車撞上異物。The control system that mands motion as a response to Follow me mode constantly takes into consideration the state of all zone inputs. The follow me function is an enabled control loop that is responding to changes of data provided from the Location system which is of itself another constantly operating loop that is calculating the location of its designated RTU and is setting an error in both range and azimuth relative to a zero position. The Zero position being the desired distance (2 4 Meters) and bearing (0 degrees). These control loops are operating at a rate exceeding 500 iterations per second. The Follow me control loop issues mands to the Motion controller such that the vehicle will move so that the Location system returns a Zero position for range and bearing.操控運(yùn)行的控制系統(tǒng)響應(yīng)跟屁蟲模式，并不斷考慮所有區(qū)域的輸入狀態(tài)。跟屁蟲控制回路向運(yùn)動(dòng)控制器發(fā)出命令，使得車輛運(yùn)行，以使定位系統(tǒng)返回到零位置的距離和方位。起始位置或零位是理想的距離（2 4米）和方位（0度）。The devices will not arbitrate function but merely report to the Caddy Host Control system if any object exists within a determined perimeter of each of the infrared CDD field of view.如果在每個(gè)紅外電荷耦合組件視野范圍確定的周圍，此設(shè)備不會(huì)判定運(yùn)行而是僅僅向球包車主機(jī)控制系統(tǒng)報(bào)告。The configuration of the IR CCD array can detect anything in field of view to the left, forward or right. Forward motion is conditioned on what the array has detected and influenced by the set rules defined in the programming. For example we can negate the caddy from turning into an object even if the objec