【正文】 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。球包車周圍會(huì)裝置10個(gè)感應(yīng)器。RSSI模擬數(shù)據(jù)水平升高超過(guò)預(yù)定的最高值1米時(shí)。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(cè)量。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。 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。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。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)。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。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。 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)。 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。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。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。最好所有車輛的使用都有記錄。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。差動(dòng)齒輪裝置來(lái)驅(qū)動(dòng)2個(gè)輪子。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(guò)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。代替的發(fā)射裝置可以是一臺(tái)轉(zhuǎn)發(fā)器來(lái)激活接收來(lái)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。最好的距離是25厘米或者更遠(yuǎn)。 a selfpropelled vehicle including a vehicle frame 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。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(tái)接收器連接。調(diào)整天線時(shí)，預(yù)定義的頻率最好由變動(dòng)的線圈電容和電壓來(lái)設(shè)定天線調(diào)整到定義的頻率。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(hào)最好是能按照處理器編程設(shè)計(jì)識(shí)別車輛和驅(qū)動(dòng)車輛移動(dòng)的適當(dāng)頻率。比較理想的形式是，車輛有3個(gè)輪子，2個(gè)后輪由馬達(dá)驅(qū)動(dòng)。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)。車輛也可以配置一個(gè)衛(wèi)星導(dǎo)航系統(tǒng)在定義的區(qū)域內(nèi)來(lái)協(xié)助控制車輛的移動(dòng)。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(cè)邊感應(yīng)器來(lái)探測(cè)車輛的側(cè)邊傾翻運(yùn)動(dòng)。圖5 是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解；圖6 是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解；Figure 7 is another diagram of decisions with respect to the collision avoidance system。The remote transceiver unit has a housing and belt clip, radio transceiver, lithium ion battery, battery charger and antenna system.遠(yuǎn)程收發(fā)器單元有一個(gè)外套和皮帶扣，無(wú)線電收發(fā)器，鋰電池，充電器和天線系統(tǒng)。跟屁蟲模式開關(guān)會(huì)引起內(nèi)部電子啟動(dòng)無(wú)線電臺(tái)的高頻傳送。主開關(guān)的位置包括：開，關(guān)和停。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(huì)與防撞系統(tǒng)相結(jié)合（適用的衛(wèi)星導(dǎo)航是在界限系統(tǒng)之外的）。已停車模式能讓高爾夫球場(chǎng)的人員將車輛鎖在停車狀態(tài)，這樣車輪就會(huì)被鎖住，車輛就不能再移動(dòng)了。車輛和遠(yuǎn)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(yuǎn)程收發(fā)器單元。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)。CLS系統(tǒng)會(huì)校準(zhǔn)中間位置相位比較器的信號(hào)并為主要的處理器提供左或右的偏差。一根天線上的供應(yīng)器線圈會(huì)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。如果處理的信號(hào)表明球包車在希望距離之外時(shí)，處理器就會(huì)收到系統(tǒng)設(shè)置的錯(cuò)誤信號(hào)，球包車會(huì)作出反應(yīng)重新確定位置到希望的距離。探測(cè)過(guò)程通過(guò)使用紅外電荷耦合組件感應(yīng)器實(shí)施，這些感應(yīng)器會(huì)傳送紅外波長(zhǎng)燈光的一個(gè)窄的波束寬度同時(shí)一臺(tái)電荷耦合組件感應(yīng)器會(huì)觀察其自身信號(hào)返回的所有反射。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。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。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。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。 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 t