【正文】 13, rear wheel assembly 14, rear wheel gear box assemblies and rear wheel drive motors 15, vehicle body 16 and battery housing. 球包車是電子控制，具有以下功能并且自我管理，當高爾夫球員進入一個球包車不適宜區(qū)域時，球包車將不再繼續(xù)運行。 圖 2 是遙控機器球包車操作組件的圖表概要； 圖 3 是有關防撞系統(tǒng)結果的圖解； Figure 4 is another diagram of decisions with respect to the collision avoidance system。當臨界水平達到或超過時，輸到馬達的電流最好能停止。通常外頻最好設定在 1米和 2米之間， 。車輛可以是任何適宜的車輛類型包括球包車，運輸車，遙控機器運貨板及遙控機器輔助。而且轉發(fā)器最好能有一個隨意的數碼產生器用來觸發(fā)傳送時間讓傳送不能同步進行以避免一個接收器同時接收多重傳送。最為理想的是轉發(fā)器的頻率在 200Khz 和 8 Ghertz之間。接收的天線最好將一根調整到最高，一根調低，這樣 2根天線就能保持 90度的相反方向。 a processor operatively associated with the receiver means, said processor is programmed to process input from the at least two spaced apart receivers 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 processor programming。車輛防撞系統(tǒng)外文翻譯 In one aspect the present invention broadly resides in a selfpropelled robotic vehicle responsive to a radio frequency signal from a transmitter means including a vehicle frame means。 and drive means supported on the vehicle frame means and adapted to receive and act on the electrical signal sent from the processor to move the vehicle in accordance with the processor programming. 進一步地說，這項發(fā)明主要是講包含有能夠發(fā)射一種高頻信號發(fā)射裝置的一種自動推進遙控機器車輛的系統(tǒng)。處理器最好能結合 2個信號的接收信號強度指示器（ RSSI）讀數以及測量相位移來確定發(fā)射裝置的位置。 The transponder preferably has a plurality of capacitors so that the transponder antenna can be dynamically tuned and shifted in 5 KHz increments to form 5 KHz channels. The signal is carrier modulated by frequency shift keying (FSK) where the keying rate is 300 Htz and the frequency shift is +/ 1 Khz either side of the carrier forming a 300Htz tone. 轉發(fā)器最好有多個電容能使轉發(fā)器天線被動態(tài)調整轉到 5KHz的增量來形成5KHz的頻道。 The drive means preferably includes a motor with a reduction gear box and a plurality of wheels operatively connected to the motor. The plurality of wheels preferably includes at least one wheel driven by the motor. In one preferred form, the vehicle has three wheels with two rear wheels driven by the motor. Preferably there is a motor associated with each of the rear wheels. Alternatively, there is a single motor having a differential gearing to drive both wheels. In a preferred embodiment the front wheel can steer the vehicle in accordance with the processor programming. 驅動裝置最好包括一個有減速齒輪箱的馬達及與馬達建立有效連接的多個輪子。車輛最好有一個手動裝置能對高頻信號不做出反應并且齒輪和剎車系統(tǒng)最好是沒有捆綁的。通常內頻設定在 0,01和 1米之間，較為理想的是設定車輛前部為 0,3米，車輛側邊為 0,08米。當車輛爬行一個非常陡的陡坡或車輛太重以及一個或多個車輪失去牽引力時越控系統(tǒng)最好能激活。 圖 4 是有關防撞系統(tǒng)結果的另一份圖解； Figure 5 is another diagram of decisions with respect to the collision avoidance system。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)，車輛主機控制器，防撞系統(tǒng)，驅動控制系統(tǒng)，電池和電源供應，電線連接和外接電池充電器。 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. 電源開關有一個關閉按鈕要求正面和確定的行動來改變狀態(tài)。其外部充電器回路從無電到再次充滿 2800mah的鎳氫電池最長僅需 6小時。當遠程收發(fā)器與球包車分離時，電子系統(tǒng)會確定方向并評估遠程收發(fā)器移動及控制后輪的驅動機械及相關馬達驅動，這樣車輛就會以一定的速度跟隨遠程收發(fā)器并按照遠程收發(fā)器的方向移動。這樣這樣單元就能被手動調節(jié)到所需的停車位置。反向模式由車輛上的一個開關啟動。 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. 遠程收發(fā)器單元是一個可攜帶的收發(fā)器系統(tǒng)，啟動時能傳送必須的信號讓車輛收發(fā)器和定位系統(tǒng)來確定收發(fā)器和高爾夫球員的位置。這個雙天線陣列會向 2個分開的接收器提供 2根分開的天線。接收天線是由一個調到最高，一根調低的 2根天線組成，這 2根天線成 90度的異相操作。 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，進行持續(xù)處理后便能以電子形式向系統(tǒng)主機控制器提供角度和距離的定位數據。主機控制器會在移動系統(tǒng)中運用剎車裝置，這樣在遇到碰撞之前，球包車就會停止移動并且會告知高爾夫球員為什么裝置會停止。 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 object 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。例如，即使異物在遠程收發(fā)器和球包車之間，我們也能防止球包車撞上異物。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。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(tǒng)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。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。 CLS 系統(tǒng)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。 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)。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。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。 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 w