【正文】 前方移動(dòng)主要取決于陣列的探測(cè)內(nèi)容以及編程設(shè)計(jì)定義的規(guī)則的影響。 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)。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)。結(jié)果就是從一根天線接收到的信號(hào)強(qiáng)度會(huì)減弱。 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。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。 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。 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。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。 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)。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。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。 Figure 6 is another diagram of decisions with respect to the collision avoidance system。 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。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(cè)到異物時(shí)指導(dǎo)車輛運(yùn)行的程序。在手動(dòng)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(dòng)。這幾個(gè)輪子最好至少有一個(gè)輪子由馬達(dá)驅(qū)動(dòng)。 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)。 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。一輛自動(dòng)推進(jìn)遙控機(jī)器車輛包括了一臺(tái)車架裝置，至少 2臺(tái)分開的用于接收來自發(fā)射裝置信號(hào)的接收裝置；一臺(tái)與接收裝置操作有關(guān)的處理器，這臺(tái)處理器將設(shè)計(jì)用于處理至少 2臺(tái)分開的接收 裝置的輸入來定位 發(fā)射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。 at least two spaced apart receiver means adapted to receive the signal from the transmitter means。 at least two spaced apart receiver means adapted to receive the signal from the transmitter means。 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(hào)來確定發(fā)射器的位置。最好轉(zhuǎn)發(fā)器可以配戴，且其頻率在 200Khz和 8 Ghertz之間?？梢赃x擇的是，轉(zhuǎn)發(fā)器的頻率在鍵控率為 500Htz以及移頻為 +/ 1 Khz時(shí)可以被調(diào)節(jié)讓接收器識(shí)別其對(duì)應(yīng)的轉(zhuǎn)發(fā)器。 The vehicle frame means preferably includes a frame body and chassis. The vehicle may be any suitable vehicle including a golf caddy, transport vehicle or cart, robotic pallet and robotic assistant. The vehicle preferably has a manual operation system where it does not respond to radio frequency signals and the gears and automatic braking system are preferably disengaged. In the manual mode, the vehicle can be pushed or pulled by a player or alternatively be towed by another vehicle. 車架裝置最好是有一個(gè)架身和底盤。最好當(dāng)異物進(jìn)入內(nèi)頻帶或外頻帶時(shí)，符合編程設(shè)計(jì)的警報(bào)和或反饋能啟動(dòng)。 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(gè)越控系統(tǒng)讓為車輪提供能源的電流達(dá)到一個(gè)臨界水平來保持車輪轉(zhuǎn)動(dòng)。 Figure 3 is a diagram of decisions with respect to the collision avoidance system。 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(jī)器球包車