【文章內(nèi)容簡(jiǎn)介】 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。 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。參照?qǐng)D 1 ，展示的 是一輛遙控機(jī)器三輪車，也就是球包車 10，這輛車由一個(gè)遠(yuǎn)程收發(fā)器單元控制有多種模式。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。 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 10能運(yùn)輸一整套球包車以及所有的常用高爾夫配件同時(shí)在高爾夫球場(chǎng)主要區(qū)域（也就是平坦球道和開(kāi)發(fā)球區(qū)）按照相關(guān)轉(zhuǎn)發(fā)器追隨高爾夫球員。 The caddy is electronically controlled to be self managing with regard to the follow function and proceednofurther function when the player enters an inappropriate area for the caddy. The caddy electronic system has two spaced apart antennas 11 , directions finding system, distance determination system, vehicle host controller, collision avoidance system, drive control system, battery and power supply, cable connection and external battery charger. The caddy mechanical system has a vehicle frame 12, self steering front wheel assembly 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(dāng)高爾夫球員進(jìn)入一個(gè)球包車不適宜區(qū)域時(shí)，球包車將不再繼續(xù)運(yùn)行。球包車電子系統(tǒng)有 2根分開(kāi)的天線 11，定向系統(tǒng)，距離確定系統(tǒng)，車輛主機(jī)控制器，防撞系統(tǒng)，驅(qū)動(dòng)控制系統(tǒng)，電池和電源供應(yīng)，電線連接和外接電池充電器。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。 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)。 The remote transceiver unit mass charging unit has a housing for plugging in eight RTU batteries, AC mains power supply and DC charging unit. 遠(yuǎn)程收發(fā)器單元大量充電裝置有一個(gè)外套供插入 8個(gè)遠(yuǎn)程收發(fā)器電池，交流電總電源電力供應(yīng)和直流電充電單元。 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 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。因?yàn)槠渲饕δ苁莻魉涂勺R(shí)別的無(wú)線電臺(tái)信號(hào)且有一個(gè)精確和連貫的頻率也被編碼，所以只有相關(guān)的球包車能夠識(shí)別。遠(yuǎn)程收發(fā)器的外套設(shè)計(jì)的目的就是為了最佳配置和使用，并將下述控制集成到一個(gè)單一的內(nèi)置的印制回路板上：電源開(kāi)關(guān)（包括距離轉(zhuǎn)換開(kāi)關(guān)）；跟屁蟲(chóng)模式和開(kāi) /關(guān)按鈕。 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(kāi)關(guān)有一個(gè)關(guān)閉按鈕要求正面和確定的行動(dòng)來(lái)改變狀態(tài)。電源開(kāi)關(guān)與距離轉(zhuǎn)換開(kāi)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。跟屁蟲(chóng)模式開(kāi)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。 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。 follow me mode on。 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(kāi)關(guān)有 4個(gè)點(diǎn)，為了達(dá)到 4米的運(yùn)行范圍電源在線性范圍增加的點(diǎn)到點(diǎn)之間調(diào)整。設(shè)備有一個(gè)主要安裝部分，在指示燈亮?xí)r佩戴者能清晰看見(jiàn)：通電，跟屁蟲(chóng)模式以及電量低。遠(yuǎn)程收發(fā)器有可替換的 2AA號(hào)堿或 鎳氫電池，能使用2800ma小時(shí)。其外部充電器回路從無(wú)電到再次充滿 2800mah的鎳氫電池最長(zhǎng)僅需 6小時(shí)。 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(kāi)關(guān)啟動(dòng)。主開(kāi)關(guān)的位置包括：開(kāi)，關(guān)和停。 While in any power on mode, the host system will record operating hours of the caddy. 在所有開(kāi)啟模式時(shí)，主機(jī)系統(tǒng)將記錄球包車的運(yùn)行時(shí)間。 Follow Me Mode 跟屁蟲(chóng)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。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(chóng)模式要么開(kāi)著或者關(guān)著。這個(gè)模式的操作是使用車輛的主要模式。球包車是由相關(guān)的遠(yuǎn)程收發(fā)器單元控制，因?yàn)?2個(gè)實(shí)體都會(huì)鍵入同樣的無(wú)線電頻率。當(dāng)遠(yuǎn)程收發(fā)器與球包車分離時(shí)，電子系統(tǒng)會(huì)確定方向并評(píng)估遠(yuǎn)程收發(fā)器移動(dòng)及控制后輪的驅(qū)動(dòng)機(jī)械及相關(guān)馬達(dá)驅(qū)動(dòng)，這樣車輛就會(huì)以一定的速度跟隨遠(yuǎn)程收發(fā)器并按照遠(yuǎn)程收發(fā)器的方向移動(dòng)。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。 This mode of operation will work in conjunction with the collision avoidance syst