【正文】 phase of the two signals. The result of the parison is a range of outofphase measurements dependent on the RTU movement. An analogue signal dependent on the phase shift is then generated.天線的信號(hào)會(huì)傳到分開的接收器。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比較2個(gè)信號(hào)的相位。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。然后會(huì)生成基于相位移的模擬信號(hào)。This signal is sent to the processor to calculate the angle of the RTU relative to the centre between the antennas.發(fā)射到處理器的信號(hào)會(huì)計(jì)算遠(yuǎn)程收發(fā)器單元與相關(guān)天線之間中心的角度。 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(hào)，進(jìn)行持續(xù)處理后便能以電子形式向系統(tǒng)主機(jī)控制器提供角度和距離的定位數(shù)據(jù)。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)。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。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)。在此過程中，模擬數(shù)據(jù)不會(huì)改變，遠(yuǎn)程收發(fā)器單元沒有打開或在范圍之外時(shí)，CLS會(huì)發(fā)出遠(yuǎn)程收發(fā)器關(guān)閉或范圍之外的律動(dòng)給球包車主機(jī)控制系統(tǒng)。RSSI模擬數(shù)據(jù)水平升高超過預(yù)定的最高值1米時(shí)。 Collision detection system. 碰撞探測(cè)系統(tǒng)The requirement of the collision system is for the caddy to turn off before contact with a solid 。 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。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。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)。探測(cè)過程通過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。從返回的角度，感應(yīng)器就能通過引起反射物體的距離。感應(yīng)器提供的輸出是測(cè)量距離的模擬電壓表示。球包車周圍會(huì)裝置10個(gè)感應(yīng)器。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(cè)場(chǎng)地視野里左邊，前面或右邊的任何物品。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。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。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 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。The control system that mands motion as a response to Follow me mode constantly takes into consideration the state of all zone inputs. The follow me function is an enabled control loop that is responding to changes of data provided from the Location system which is of itself another constantly operating loop that is calculating the location of its designated RTU and is setting an error in both range and azimuth relative to a zero position. The Zero position being the desired distance (2 4 Meters) and bearing (0 degrees). These control loops are operating at a rate exceeding 500 iterations per second. The Follow me control loop issues mands to the Motion controller such that the vehicle will move so that the Location system returns a Zero position for range and bearing.操控運(yùn)行的控制系統(tǒng)響應(yīng)跟屁蟲模式，并不斷考慮所有區(qū)域的輸入狀態(tài)。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。起始位置或零位是理想的距離（2 4米）和方位（0度）。這些控制回路系統(tǒng)以每秒500次的迭代速度運(yùn)行。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。The collision avoidance data is fed to the Follow me control loop on a continuing basis so that all decisions to issue motion mands take the zone status into effect. For example, if the Fro