【正文】 r 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。主開(kāi)關(guān)的位置包括：開(kāi)，關(guān)和停。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)。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。 follow me mode on。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 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)。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。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)。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)。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。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。參照?qǐng)D1 ，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。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。圖4 是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解；Figure 5 is another diagram of decisions with respect to the collision avoidance system。 Figure 3 is a diagram of decisions with respect to the collision avoidance system。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。In another embodiment the vehicle may have a lateral sensor to detect sideways tipping movement of the vehicle.另一種方法就是車輛配置側(cè)邊感應(yīng)器來(lái)探測(cè)車輛的側(cè)邊傾翻運(yùn)動(dòng)。當(dāng)車輛爬行一個(gè)非常陡的陡坡或車輛太重以及一個(gè)或多個(gè)車輪失去牽引力時(shí)越控系統(tǒng)最好能激活。The vehicle preferably has an override system where the electrical current powering the wheels increases up to a threshold level to keep the wheels turning. When the threshold level is reached or exceeded the current to the motor is preferably stopped. The override system is preferably activated when the vehicle moves up a very steep slope, when there is too much weight on the vehicle and when one or more wheels lose traction.車輛最好能有一個(gè)越控系統(tǒng)讓為車輪提供能源的電流達(dá)到一個(gè)臨界水平來(lái)保持車輪轉(zhuǎn)動(dòng)。最好車輛能通知遠(yuǎn)程監(jiān)控系統(tǒng)是否運(yùn)行時(shí)間正在接近指定的時(shí)間。車輛也可以配置一個(gè)衛(wèi)星導(dǎo)航系統(tǒng)在定義的區(qū)域內(nèi)來(lái)協(xié)助控制車輛的移動(dòng)。通常內(nèi)頻設(shè)定在0,01和1米之間，較為理想的是設(shè)定車輛前部為0,3米，車輛側(cè)邊為0,08米。最好當(dāng)異物進(jìn)入內(nèi)頻帶或外頻帶時(shí)，符合編程設(shè)計(jì)的警報(bào)和或反饋能啟動(dòng)。車輛的防撞系統(tǒng)最好能有多個(gè)紅外線遠(yuǎn)程收發(fā)器。在手動(dòng)模式中，車輛可以由高爾夫球員推或拉或者是由另一輛車拖動(dòng)。車輛可以是任何適宜的車輛類型包括球包車，運(yùn)輸車，遙控機(jī)器運(yùn)貨板及遙控機(jī)器輔助。一種理想的方式就是前輪能驅(qū)動(dòng)車輛按照處理器編程設(shè)計(jì)行駛。替換的方式就是一個(gè)單一的馬達(dá)有一個(gè)比較理想的形式是，車輛有3個(gè)輪子，2個(gè)后輪由馬達(dá)驅(qū)動(dòng)。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(qū)動(dòng)裝置最好包括一個(gè)有減速齒輪箱的馬達(dá)及與馬達(dá)建立有效連接的多個(gè)輪子。可以選擇的是，轉(zhuǎn)發(fā)器的頻率在鍵控率為500Htz以及移頻為+/ 1 Khz時(shí)可以被調(diào)節(jié)讓接收器識(shí)別其對(duì)應(yīng)的轉(zhuǎn)發(fā)器。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。The radio frequency signal is preferably a suitable frequency to enable identification of the vehicle and activation of the vehicle to move in accordance with the processor programming. The radio frequency signals are preferably arranged in channels. The signal processing is preferably able to identify separate transmitter channels and negate any adjacent channel interference.高頻信號(hào)最好是能按照處理器編程設(shè)計(jì)識(shí)別車輛和驅(qū)動(dòng)車輛移動(dòng)的適當(dāng)頻率。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(zhuǎn)發(fā)器最好有多個(gè)電容能使轉(zhuǎn)發(fā)器天線被動(dòng)態(tài)調(diào)整轉(zhuǎn)到5KHz的增量來(lái)形成5KHz的頻道。最好轉(zhuǎn)發(fā)器可以配戴，且其頻率在200Khz和 8 Ghertz之間。發(fā)射裝置最好是便攜式的。調(diào)整天線時(shí)，預(yù)定義的頻率最好由變動(dòng)的線圈電容和電壓來(lái)設(shè)定天線調(diào)整到定義的頻率。處理器最好能結(jié)合2個(gè)信號(hào)的接收信號(hào)強(qiáng)度指示器（RSSI）讀數(shù)以及測(cè)量相位移來(lái)確定發(fā)射裝置的位置。The two spaced apart antennas are preferably operatively connected to enable the processor to process the signal inputs to determine the location of the transmitter. The receiving antennas are preferably arranged with one antenna peak tuned and the other is dip tuned so that they are 90 degrees out of phase. The processor preferably can bine the two signals for a summed RSSI reading and measure a phase shift to determine the po