【正文】 跟屁蟲控制回路向運動控制器發(fā)出命令，使得車輛運行，以使定位系統(tǒng)返回到零位置的距離和方位。起始位置或零位是理想的距離（2 4米）和方位（0度）。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)。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.如果在每個紅外電荷耦合組件視野范圍確定的周圍，此設(shè)備不會判定運行而是僅僅向球包車主機控制系統(tǒng)報告。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。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。感應(yīng)器提供的輸出是測量距離的模擬電壓表示。探測過程通過使用紅外電荷耦合組件感應(yīng)器實施，這些感應(yīng)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(yīng)器會觀察其自身信號返回的所有反射。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。 Collision detection system. 碰撞探測系統(tǒng)The requirement of the collision system is for the caddy to turn off before contact with a solid 。在此過程中，模擬數(shù)據(jù)不會改變，遠程收發(fā)器單元沒有打開或在范圍之外時，CLS會發(fā)出遠程收發(fā)器關(guān)閉或范圍之外的律動給球包車主機控制系統(tǒng)。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(shè)置的錯誤信號，球包車會作出反應(yīng)重新確定位置到希望的距離。 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(shù)據(jù)。然后會生成基于相位移的模擬信號。信號會組合成一個綜合RSSI讀數(shù)，每個接收器的輸出也會提供給相位比較器線路來比較2個信號的相位。一根天線上的供應(yīng)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。接收天線是由一個調(diào)到最高，一根調(diào)低的2根天線組成，這2根天線成90度的異相操作。接收器會提供精確的RSSI模擬水平比例到接收信號的水平，此接收信號的水平是在20∪秒的時間范圍內(nèi)，2根天線的測量總計。The receiver may be a conventional Super Heterodyne type or may be a Near Zero IF type. The receiver sensitivity allows it to differentiate an ining wanted receive signal on its selected channel of operation down to a level of 90Dbm for a signal transmitted by the RTU at a distance of 4 meters from the RTU. The receiver provides an accurate RSSI analogue level proportional to the level of the received signal with such signal level being the aggregate of two measurements made from both antennae within a time frame of 20 [mu]seconds.接收器可以是常用的超外差接收器或者是零中頻接收器。CLS系統(tǒng)會校準(zhǔn)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。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。接收器給處理器（定位系統(tǒng)）提供模擬數(shù)據(jù)讓其處理遠程收發(fā)器單元的當(dāng)前位置。 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)。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)。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。The RTU has the following functions: power on/off。當(dāng)高爾夫球員走向以及經(jīng)過相關(guān)球包車時，球包車會翻轉(zhuǎn)然后在預(yù)先確定的范圍之內(nèi)追隨高爾夫球員。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。反向模式由車輛上的一個開關(guān)啟動。在連接充電電線時，無論選擇了任何一種模式，車輛都會自動進入停車模式?？梢酝ㄟ^連接外部電源對主要的電池進行充電。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。這樣這樣單元就能被手動調(diào)節(jié)到所需的停車位置。Follow me mode is disabled by turning the switch to the off position.把開關(guān)調(diào)到關(guān)閉位置時，跟屁蟲模式就停止運轉(zhuǎn)了 Parking Mode停車模式Parking mode is a mode of operation that allows golf course personnel to manipulate the vehicle without the use of the respective RTU. The parking mode is enabled by a security key and will cause the onboard electronic systems to put the drive mechanism into free wheel mode such that the unit can be manually manoeuvered to a required parking position.停車模式是一種操作模式，允許高爾夫球場的人員能在不使用相關(guān)遠程收發(fā)器單元時操作車輛。例如，如果佩戴遠程收發(fā)器單元的高爾夫球員運動到的位置會讓處于跟屁蟲模式的車輛碰上異物或是移出相關(guān)處理器編程設(shè)計的區(qū)域之外，跟屁蟲模式就會不起作用且停止運轉(zhuǎn)。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）。當(dāng)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(qū)動機械及相關(guān)馬達驅(qū)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。這個模式的操作是使用車輛的主要模式。 Follow Me Mode跟屁蟲模式There is a separate follow me switch which is either on o