【正文】 t is between the RTU and the caddy. In the situation where the golfer walks past an object and turns sharply left, the caddy will continue forward until the object is cleared before allowing the left hand turn.紅外電荷耦合組件陣列能探測場地視野里左邊，前面或右邊的任何物品。探測過程通過使用紅外電荷耦合組件感應器實施，這些感應器會傳送紅外波長燈光的一個窄的波束寬度同時一臺電荷耦合組件感應器會觀察其自身信號返回的所有反射。 Collision detection system. 碰撞探測系統The requirement of the collision system is for the caddy to turn off before contact with a solid 。如果處理的信號表明球包車在希望距離之外時，處理器就會收到系統設置的錯誤信號，球包車會作出反應重新確定位置到希望的距離。然后會生成基于相位移的模擬信號。一根天線上的供應器線圈會交叉耦合到另一根天線上，另一根天線也是這樣，所以2根天線就平衡了。接收器會提供精確的RSSI模擬水平比例到接收信號的水平，此接收信號的水平是在20∪秒的時間范圍內，2根天線的測量總計。CLS系統會校準中間位置相位比較器的信號并為主要的處理器提供左或右的偏差。接收器給處理器（定位系統）提供模擬數據讓其處理遠程收發(fā)器單元的當前位置。3. Operation Description of the Caddy 球包車操作描述The caddy has the following function selections: power on/off/parking key switch)。The RTU has the following functions: power on/off。車輛和遠程收發(fā)器單元的操作距離也將取決于高爾夫球員怎樣佩戴和攜帶遠程收發(fā)器單元。在連接充電電線時，無論選擇了任何一種模式，車輛都會自動進入停車模式。已停車模式能讓高爾夫球場的人員將車輛鎖在停車狀態(tài)，這樣車輪就會被鎖住，車輛就不能再移動了。Follow me mode is disabled by turning the switch to the off position.把開關調到關閉位置時，跟屁蟲模式就停止運轉了 Parking Mode停車模式Parking mode is a mode of operation that allows golf course personnel to manipulate the vehicle without the use of the respective RTU. The parking mode is enabled by a security key and will cause the onboard electronic systems to put the drive mechanism into free wheel mode such that the unit can be manually manoeuvered to a required parking position.停車模式是一種操作模式，允許高爾夫球場的人員能在不使用相關遠程收發(fā)器單元時操作車輛。This mode of operation will work in conjunction with the collision avoidance system (and where applicable satellite navigation out of bounds system). These systems will provide an indication as to whether the follow me mode is enabled or disabled. For example, if the player with the RTU moves to a position where the caddy in follow me mode would collide with an object or move in an out of bounds with respect to the processor programming, then follow me mode would be disabled and movement stopped. In order to reenable follow me mode, the player must move to a position that the caddy can proceed to without breaching set navigational rules and processor programming.此操作模式會與防撞系統相結合（適用的衛(wèi)星導航是在界限系統之外的）。這個模式的操作是使用車輛的主要模式。主開關的位置包括：開，關和停。設備有一個主要安裝部分，在指示燈亮時佩戴者能清晰看見：通電，跟屁蟲模式以及電量低。跟屁蟲模式開關會引起內部電子啟動無線電臺的高頻傳送。因為其主要功能是傳送可識別的無線電臺信號且有一個精確和連貫的頻率也被編碼，所以只有相關的球包車能夠識別。The remote transceiver unit has a housing and belt clip, radio transceiver, lithium ion battery, battery charger and antenna system.遠程收發(fā)器單元有一個外套和皮帶扣，無線電收發(fā)器，鋰電池，充電器和天線系統。The robotic golf caddy 10 can transport a full set golf bag and all the usual golfing accessories whilst following the player with the respective transponder over the primary areas of a golf course (that is fairways and green to tee walkways).遙控機器球包車10能運輸一整套球包車以及所有的常用高爾夫配件同時在高爾夫球場主要區(qū)域（也就是平坦球道和開發(fā)球區(qū)）按照相關轉發(fā)器追隨高爾夫球員。圖5 是有關防撞系統結果的另一份圖解；圖6 是有關防撞系統結果的另一份圖解；Figure 7 is another diagram of decisions with respect to the collision avoidance system。 Figure 3 is a diagram of decisions with respect to the collision avoidance system。In another embodiment the vehicle may have a lateral sensor to detect sideways tipping movement of the vehicle.另一種方法就是車輛配置側邊感應器來探測車輛的側邊傾翻運動。The vehicle preferably has an override system where the electrical current powering the wheels increases up to a threshold level to keep the wheels turning. When the threshold level is reached or exceeded the current to the motor is preferably stopped. The override system is preferably activated when the vehicle moves up a very steep slope, when there is too much weight on the vehicle and when one or more wheels lose traction.車輛最好能有一個越控系統讓為車輪提供能源的電流達到一個臨界水平來保持車輪轉動。車輛也可以配置一個衛(wèi)星導航系統在定義的區(qū)域內來協助控制車輛的移動。最好當異物進入內頻帶或外頻帶時，符合編程設計的警報和或反饋能啟動。在手動模式中，車輛可以由高爾夫球員推或拉或者是由另一輛車拖動。一種理想的方式就是前輪能驅動車輛按照處理器編程設計行駛。比較理想的形式是，車輛有3個輪子，2個后輪由馬達驅動?？梢赃x擇的是，轉發(fā)器的頻率在鍵控率為500Htz以及移頻為+/ 1 Khz時可以被調節(jié)讓接收器識別其對應的轉發(fā)器。The radio frequency signal is preferably a suitable frequency to enable identification of the vehicle and activation of the vehicle to move in accordance with the processor programming. The radio frequency signals are preferably arranged in channels. The signal processing is preferably able to identify separate transmitter channels and negate any adjacent channel interference.高頻信號最好是能按照處理器編程設計識別車輛和驅動車輛移動的適當頻率。最好轉發(fā)器可以配戴，且其頻率在200Khz和 8 Ghertz之間。調整天線時，預定義的頻率最好由變動的線圈電容和電壓來設定天線調整到定義的頻率。The two spaced apart antennas are preferably operatively connected to enable the processor to process the signal inputs to determine the location of the transmitter. The receiving antennas are preferably arranged with one antenna peak tuned and the other is dip tuned so that they are 90 degrees out of phase. The processor preferably can bine the two signals for a summed RSSI reading and measure a phase shift to determine the position of the transmitter means.兩根分開的天線最好有效的連接使處理器能處理輸入的信號來確定發(fā)射器的位置。The receiver means preferably includes two spaced apart antennas with each operatively linked to a receiver. The receivers are preferably Super Heterodyne type or Near Zero IF type. The antennas are preferably spaced apart at a distance from each other. More preferably, the antennas are 25cm or more spaced apart from each other.接收裝置最好包括2根分開的天線，每根都分別能夠與一臺接收器連接。 at least two spaced apart receiver means adapted to receive the signal from the transmitter means。 a processor operatively associated with the receiver means, said processor is programmed to process input from the at least two spaced apart receiver means to locate the position of the transmitter means and produce an electrical signal for the vehicle to move relative to the transmitter means in accordance with the processorprogramming。 at least two spaced apart receiver means adapted to receive the signal from the transmitter means。 a selfpropelled vehicle including a vehicle frame means。一輛自動推進遙控機器車輛包括了一臺車架裝置，至少2臺分開的用于接收來自發(fā)射裝置信號的接收裝置；一臺與接收裝置操作有關的處理器，這臺處理器將設計用于處理至少2臺分開的接收裝置的輸入來定位 發(fā)射