【正文】 裝置的位置并按照處理器編程設(shè)計(jì)發(fā)出電子信號(hào)指揮車輛移動(dòng)到相關(guān)的發(fā)射裝置那里，而用于支持車架及適用接收和反應(yīng)來自處理器電子信號(hào)的驅(qū)動(dòng)裝置將按照處理器編程設(shè)計(jì)來移動(dòng)車輛。最好的距離是25厘米或者更遠(yuǎn)。Preferably the antennas have resonator coils that enable them to be dynamically tuned. With tuning the antenna, the predefined frequency is preferably set by varying the capacitance of the coil by the voltage to peak tune the antenna to the defined frequency.最好天線能有共振器線圈能讓2根天線進(jìn)行動(dòng)態(tài)調(diào)整。代替的發(fā)射裝置可以是一臺(tái)轉(zhuǎn)發(fā)器來激活接收來自車輛的高頻信號(hào)并且返回傳送一個(gè)定位信號(hào)給車輛。信號(hào)是由鍵控率為300Htz的頻移鍵控 調(diào)節(jié)以及移頻為+/ 1 Khz的載波器，載波器的每面都會(huì)形成300Htz的音調(diào)。Within the defined range of the radio frequency signals, the number of vehicles responding to transponder specific signals within an area may be increased by one or more methods including random transmission cycle for the transponders where the transmissions are coded so that they can be decoded and used by the corresponding vehicle. Alternately the frequency from the transponder may be modulated at a FSK keying rate of 500Htz with +/ 1 Khz frequency shift so that the receivers can identify their corresponding transponder. Furthermore the transponder preferably has a random number generator which is used to trigger transmit time so that transmissions are not synchronized to avoid the situation where multiple simultaneous transmissions are received by a receiver.在高頻信號(hào)定義的范圍內(nèi)，一個(gè)區(qū)域內(nèi)對(duì)轉(zhuǎn)發(fā)器特定信號(hào)有反應(yīng)的車輛數(shù)量可以通過一種或多種方法增加，包括轉(zhuǎn)發(fā)器的任意傳遞周期，這些傳遞能夠被編碼并被解碼用于相應(yīng)的車輛。這幾個(gè)輪子最好至少有一個(gè)輪子由馬達(dá)驅(qū)動(dòng)。差動(dòng)齒輪裝置來驅(qū)動(dòng)2個(gè)輪子。車輛最好有一個(gè)手動(dòng)裝置能對(duì)高頻信號(hào)不做出反應(yīng)并且齒輪和剎車系統(tǒng)最好是沒有捆綁的。防撞裝置最好有防撞頻帶，為車輛提供一個(gè)內(nèi)頻帶和一個(gè)外頻帶。最好是編程設(shè)計(jì)時(shí)涵蓋當(dāng)紅外電荷耦合組件傳感器探測到異物時(shí)指導(dǎo)車輛運(yùn)行的程序。最好所有車輛的使用都有記錄。In another embodiment the vehicle may have a weight sensor that detects whether the weight of the vehicle is over a predetermined limit and if so the vehicle stops.另一種方法就是車輛配置重量感應(yīng)器，來感應(yīng)車輛載重是否超過了預(yù)先確定的極限，如果超過了，車輛就會(huì)停止。圖1是本項(xiàng)發(fā)明遙控機(jī)器球包車較好的表現(xiàn)圖片；Figure 2 is a diagrammatic view of the operational ponents of the robotic golf caddy。 Figure 6 is another diagram of decisions with respect to the collision avoidance system。遠(yuǎn)程收發(fā)器單元由高爾夫球員佩戴（比如在一根帶子上）或是攜帶。球包車機(jī)械系統(tǒng)有一個(gè)車架12，自動(dòng)駕駛前輪組件13，后輪組件14，后輪齒輪盒組件和后輪驅(qū)動(dòng)馬達(dá)15，車身16和電池筒。 follow me mode and On/off switch.遠(yuǎn)程收發(fā)器單元的主要功能是其為球包車接收器電子和定位系統(tǒng)提供了一個(gè)高頻傳送定位源。電源開關(guān)與距離轉(zhuǎn)換開關(guān)集成能引起遠(yuǎn)程收發(fā)器單元電子調(diào)整高頻發(fā)射器的電源輸出。 and low battery. The RTU has replaceable 2 AA size alkaline or Nickel metal hydride battery with a capacity of 2800ma hours. It will have an external charger circuit capable of recharging the 2800mah NiMh battery from discharge to full charge within 6 hours maximum.電源開關(guān)有4個(gè)點(diǎn)。The caddy and RTU will now be further described with reference to Figures 2 to 8.球包車和遠(yuǎn)程收發(fā)單元會(huì)在圖2到圖8中進(jìn)行進(jìn)一步的描述；1. Operational Description of the Caddy球包車的操作描述The Caddy has several operating modes in terms of movement which are activated by a key switch. The positions of the key switch include on, off and parking.球包車移動(dòng)的幾個(gè)操作模式由一個(gè)主開關(guān)啟動(dòng)。s movement. The control system will ensure that a predetermined distance will always be maintained between the caddy and the RTU when the RTU is activated.跟屁蟲模式要么開著或者關(guān)著。當(dāng)遠(yuǎn)程收發(fā)器單元啟動(dòng)時(shí)，控制系統(tǒng)會(huì)確保球包車和遠(yuǎn)程收發(fā)器之間預(yù)先確定的距離總會(huì)被保持。為了重新啟動(dòng)跟屁蟲模式，高爾夫球員必須移動(dòng)到一個(gè)球包車不與設(shè)定的導(dǎo)航規(guī)則及處理器編程設(shè)計(jì)沖突且能繼續(xù)運(yùn)轉(zhuǎn)的位置。 Parked Mode已停車模式Parked mode occurs when off is selected on the key switch. Parked mode enables golf course personnel to lock the vehicle in a parked position so that the driving wheels are locked and the vehicle is disabled from movement.當(dāng)主開關(guān)上選擇關(guān)閉狀態(tài)時(shí)，就可以使用已停車模式。在理想狀態(tài)時(shí)，當(dāng)充電電線連接時(shí)，車輛會(huì)自動(dòng)進(jìn)入已停車模式，在外部連接電線斷開之前，車輛會(huì)一直保持這種狀態(tài)。2. Operational Description of the RTU遠(yuǎn)程收發(fā)器單元的操作描述The RTU is a transceiver unit that when powered and activated will transmit a unique signal that the corresponding caddy recognizes and locks on to. The operating range of the RTU depends on the frequency that is transmitted by the caddy. The operating distance of the caddy from the RTU will also depend on how the RTU is worn or carried by the player. The maximum distance for operation of the caddy from the RTU is four meters and the minimum distance is 1 meter. When a player with the RTU walks towards and then past the respective caddy the caddy will rotate and follow the player within the predetermined distance range. The follow me distance is adjustable on the RTU.遠(yuǎn)程收發(fā)器單元就是一種收發(fā)器單元在有動(dòng)力并啟動(dòng)時(shí)會(huì)傳送特別的信號(hào)讓相對(duì)應(yīng)的車輛進(jìn)行識(shí)別和定位跟蹤。跟屁蟲的距離可以在遠(yuǎn)程收發(fā)器單元上進(jìn)行調(diào)整。遠(yuǎn)程收發(fā)器單元由一個(gè)內(nèi)部電池提供電源，此電池可以更換也可以通過單獨(dú)的充電單元充電。 Caddy Antenna system and Receiver (CAR)球包車天線系統(tǒng)和接收器（CAR）The caddy receiver includes a dual antenna system and dual recievers. The receiver provides analogue data to the processor (location system) for processing the current location of the RTU.球包車接收器包括雙重天線系統(tǒng)和雙重收發(fā)器。2個(gè)接收器的正交輸出會(huì)與相位比較器線路比較來確定相位改變和接收到的遠(yuǎn)程接收器單元信號(hào)的方位角。距離遠(yuǎn)程接收器單元4米的收發(fā)器的敏感度會(huì)在操作選擇的頻道上對(duì)遠(yuǎn)程收發(fā)器單元傳送的信息區(qū)分進(jìn)入的需要接收信號(hào)到90Dbm水平。結(jié)果就是從一根天線接收到的信號(hào)強(qiáng)度會(huì)減弱。比較的結(jié)果是根據(jù)遠(yuǎn)程收發(fā)器單元移動(dòng)的一系列異相測量。信號(hào)處理后提供給系統(tǒng)主機(jī)控制器的是一種運(yùn)行狀態(tài)。RSSI模擬數(shù)據(jù)水平升高超過預(yù)定的最高值1米時(shí)。The key function of the Collision avoidance system is to ascertain when the vehicle is in motion or motion is intended if any object is in the intended path of travel at a distance of 1 meter or less. The detection process is performed by use of infrared (IR) CCD (charge coupled device) sensors which transmit a narrow beam width of IR wavelength light with a CCD sensor that looks at any reflections of its own signal being returned. From the angle at which it is returned the sensor is able to determine the distance from the sensor of the reflecting object. The sensor provides an output that is an analogue voltage representation of measured distance. Ten sensors are positioned around the caddy and can detect anything out to meters from the sensor. There is an outer band around the forward motion section of the caddy of meters and an inner boundary of meters. The side sensors are set with an inner boundary of meters.防撞系統(tǒng)的主要功能是確定車輛正在移動(dòng)或如果在車輛計(jì)劃通過的路上1米或不到1米的距離時(shí)存在任何異物時(shí)打算移動(dòng)。球包車周圍會(huì)裝置10個(gè)感應(yīng)器。在此情形中，高爾夫球員跨過一個(gè)異物且突然左轉(zhuǎn)，球包車會(huì)繼續(xù)前進(jìn)直到在左轉(zhuǎn)之前異物被清除。跟屁蟲的功能類似啟用的控制回路系統(tǒng)，響應(yīng)定位系統(tǒng)提供的數(shù)據(jù)的變化，而定位系統(tǒng)是另一個(gè)不斷運(yùn)行的回路系統(tǒng)，用于計(jì)算指定的遠(yuǎn)程收發(fā)器的位置，確定相對(duì)于起始位置距離及方位上的誤差。The collision avoidance data is fed to the Follow me control loop on a continuing basis so that all decisions to issue motion mands take the zone status into effect. For example, if the Fr