【正文】 en channel. The receiving antennas are set up with one antenna peak tuned while the other is dip tuned. The antennas operate 90 degrees out of phase. As a result there is a diminution in received signal strength from one antenna. The feeder coil on one antenna is cross coupled to the other antenna and vice versa so they are balanced. 遠(yuǎn)程收發(fā)器單元在一個(gè)給定的頻道上傳送窄帶信號(hào)。 Collision avoidance system 防撞系統(tǒng) The collision avoidance system determines if any object of sufficient mass is in the path of the vehicle within a specified minimum distance and informs the host controller in the event that this occurs. The host controller will apply braking to the motion system such that the caddy will cease motion prior to a collision and that an indication is given to the player as to why the unit has stopped. 防撞系統(tǒng)會(huì)確定在一個(gè)確定的最低距離內(nèi)車輛的道路上是否會(huì)有任何足夠大的物體，一旦出現(xiàn)就會(huì)通知主機(jī)控制器。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。 The location system has a separate logical function that will take analogue data from the CAR system in terms of tone/phase and RSSI and convert it to positional data and send it on a continuous change basis to the caddy host control system (CHC) via a three wire serial bus. In the event that the analogue data is not changing, that is the RTU is not turned on or out of range then the CLS will send an RTU Off or out of range heartbeat to the CHC. Should the RSSI analogue data level rise above a set maximum for 1 meter then CLS will indicate to the CHC that a golfer with RTU enabled is present and has approached the Caddy within the minimum operating distance of meters from antennas. 定位系統(tǒng)有一個(gè)單獨(dú)的邏輯功能，會(huì)將來(lái)自 CAR系統(tǒng)的聲音信號(hào) /相位和 RSSI的模擬信號(hào)轉(zhuǎn)化成位置數(shù)據(jù)并在不斷變動(dòng)的基礎(chǔ)上通過三線系列汽車傳給球包車主機(jī)控制系統(tǒng)。當(dāng)天線系統(tǒng)直接指向接收信號(hào)源時(shí)，就不會(huì)再有相位差異，因此處于零狀態(tài)。車輛和遠(yuǎn)程收發(fā)器單元的最大操作距離是 4米，最短為 1米。這些系統(tǒng)會(huì)提供顯示表明跟屁蟲模式正在運(yùn)轉(zhuǎn)還是停止?fàn)顟B(tài)。 The power switch has 4 positions where the power is adjusted in linear range increments from position to position in order to achieve an operating range of meters to 4 meters. The device has one Led mounted that are readily visible to the wearer and that indicate when lit: power on。 and Figure 8 is another diagram of decisions with respect to the collision avoidance system. 圖 7是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解； 而且圖 8也是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解； DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 理想狀態(tài)的詳細(xì)描述 The detailed description of the preferred embodiment refers to a robotic golf caddy. With reference to Figure 1 , there is shown a robotic three wheeled vehicle being a golf caddy 10 that operates in a variety of modes controlled by a remote transceiver unit (RTU). The remote transceiver unit is worn (such as on a belt) or carried by the player. 理想狀態(tài)的詳細(xì)描述指的是遙控機(jī)器球包車。 The system preferably has the capability of recording the operational time of the vehicle. Preferably the vehicle can alert a remote monitoring system whether the operational time is approaching its allocated time. Preferably all usage of the vehicle is recorded. 系統(tǒng)最好能夠記錄車輛的運(yùn)行時(shí)間。最好有一個(gè)馬達(dá)與每個(gè)后輪都連接。 The transmitter means is preferably a transponder that transmits a signal but not receive a signal. The transmitter means is preferably portable. Alternately transmitter means may be a transponder which is activated on receiving a radio frequency signal from the vehicle and transmits a location signal back to the vehicle. Preferably the transponder is wearable and has a frequency between 200Khz to 8 Ghertz. More preferably the transponder has a frequency between 300 Khz and 500 Khz. 發(fā)射裝置最好是發(fā)射信號(hào)而不是接收信號(hào)的轉(zhuǎn)發(fā)器。 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. 一方面，這項(xiàng)發(fā)明主要是用一輛自動(dòng)推進(jìn)的遙控機(jī)器車輛對(duì)一臺(tái)發(fā)射裝置發(fā)射的高頻信號(hào)進(jìn)行反應(yīng) ,這包括一臺(tái)車架裝置，至少 2臺(tái)分開的用于接收來(lái)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(lái)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(lái)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(lái)移動(dòng)車輛。天線與天線之間最 好有一定的間隔距離。信號(hào)處理最好能識(shí)別不同的發(fā)射器頻道并否定所有相鄰頻道的干擾。防撞系統(tǒng)應(yīng)包括紅外電荷耦合組件距離傳感器來(lái)定位車輛及探測(cè)距離傳感器 5米，最好能到達(dá) 。 BRIEF DESCRIPTION OF THE DRAWINGS 圖紙簡(jiǎn)要描述 In order that the present invention can be more readily understood and put into practical effect, reference will now be made to the acpanying drawings wherein: 為了更好的理解本項(xiàng)發(fā)明并能付諸實(shí)踐，以下是關(guān)于圖紙的參考資料： Figure 1 is a photograph of a robotic golf caddy of the preferred embodiment of the invention。 The key functionality of the RTU is that it provides an RF transmitting location source for the Caddy receiver electronics and location system. As such its key function is to transmit an identifiable beacon signal that has a precise and consistent frequency that is uniquely coded as well, so that it is identifiable only by its respective Caddy. The unit housing is purpose designed to allow for best form fit and use and will have the following controls integrated onto a single printed circuit board housed internally : power switch (including range switch)。 Follow Me Mode 跟屁蟲模式 There is a separate follow me switch which is either on or off. This mode of operation is the primary mode for use of the vehicle. The golf caddy is controlled by the respective RTU as both entities are keyed with the same radio frequency. When the RTU moves away from the caddy, the electronics system determines the direction and rate at which the RTU is moving and will control the drive mechanism to the rear wheel set and their respective motor drives such that the vehicle will follow the RTU at a rate and direction equivalent to the RTU39。可以通過連接外部電源對(duì)主要的電池進(jìn)行充電。 reverse mode switch on/off. 球包車有以下功能選擇：電源開 /關(guān) /停車 主開關(guān)；跟屁蟲模式開 /關(guān)；反向模式開/關(guān)。信號(hào)會(huì)組合成一個(gè)綜合 RSSI讀數(shù)，每個(gè)接收器的輸出也會(huì)提供給相位比較器線路來(lái)比較 2個(gè)信號(hào)的相位。感應(yīng)器提供的輸出是測(cè)量距離的模擬電壓表示。球包車向前移動(dòng)的外圈為 ，內(nèi)部界限為 。然后會(huì)生成基于相位移的模擬信號(hào)。接收器給處理器（定位系統(tǒng)）提供模擬數(shù)據(jù)讓其處理遠(yuǎn)程收發(fā)器單元的當(dāng)前 位置。在連接充電電線時(shí)，無(wú)論