【正文】 in accordance with the processor programming is actuated when an object enters the outer or inner boundaries. The outer boundary is preferably set between 1 and 2 meters and more preferably meters from the vehicle. The inner boundary is preferably set between and 1 meters and more preferably meters for the front of the vehicle and meters for the sides of the vehicle. Preferably there are rules forming part of the processor programming that direct the operation of the vehicle when an object is detected by the infrared CCD sensors. The vehicle may also include a satellite navigation system to assist in controlling the movement of the vehicle in a defined area.車(chē)輛最好能有防撞系統(tǒng)能防止車(chē)輛碰到異物或是在碰到之前就能停下來(lái)。防撞裝置最好有防撞頻帶，為車(chē)輛提供一個(gè)內(nèi)頻帶和一個(gè)外頻帶。通常外頻最好設(shè)定在1米和2米之間。最好是編程設(shè)計(jì)時(shí)涵蓋當(dāng)紅外電荷耦合組件傳感器探測(cè)到異物時(shí)指導(dǎo)車(chē)輛運(yùn)行的程序。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(chē)輛的運(yùn)行時(shí)間。最好所有車(chē)輛的使用都有記錄。當(dāng)臨界水平達(dá)到或超過(guò)時(shí)，輸?shù)今R達(dá)的電流最好能停止。In another embodiment the vehicle may have a weight sensor that detects whether the weight of the vehicle is over a predetermined limit and if so the vehicle stops.另一種方法就是車(chē)輛配置重量感應(yīng)器，來(lái)感應(yīng)車(chē)輛載重是否超過(guò)了預(yù)先確定的極限，如果超過(guò)了，車(chē)輛就會(huì)停止。In another embodiment the vehicle may have a gradient sensor that is able to sense the incline of a gradient and if over a predetermined limit, the processor will prevent the vehicle from continuing movement in the inclined direction.另一種方法就是車(chē)輛配備傾斜感應(yīng)器，在有傾斜可能以及超過(guò)預(yù)先確定限制時(shí)進(jìn)行感應(yīng)，處理器會(huì)防止車(chē)輛在傾斜方向的繼續(xù)移動(dòng)。圖1是本項(xiàng)發(fā)明遙控機(jī)器球包車(chē)較好的表現(xiàn)圖片；Figure 2 is a diagrammatic view of the operational ponents of the robotic golf caddy。圖2 是遙控機(jī)器球包車(chē)操作組件的圖表概要；圖3 是有關(guān)防撞系統(tǒng)結(jié)果的圖解；Figure 4 is another diagram of decisions with respect to the collision avoidance system。 Figure 6 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(chē)。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 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(chē)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(chē)不適宜區(qū)域時(shí)，球包車(chē)將不再繼續(xù)運(yùn)行。球包車(chē)機(jī)械系統(tǒng)有一個(gè)車(chē)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(chē)身16和電池筒。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。 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(chē)接收器電子和定位系統(tǒng)提供了一個(gè)高頻傳送定位源。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。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。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 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)。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)。The caddy and RTU will now be further described with reference to Figures 2 to 8.球包車(chē)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(chē)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(chē)移動(dòng)的幾個(gè)操作模式由一個(gè)主開(kāi)關(guān)啟動(dòng)。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(chē)的運(yùn)行時(shí)間。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。球包車(chē)是由相關(guān)的遠(yuǎn)程收發(fā)器單元控制，因?yàn)?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)器單元啟動(dòng)時(shí)，控制系統(tǒng)會(huì)確保球包車(chē)和遠(yuǎn)程收發(fā)器之間預(yù)先確定的距離總會(huì)被保持。這些系統(tǒng)會(huì)提供顯示表明跟屁蟲(chóng)模式正在運(yùn)轉(zhuǎn)還是停止?fàn)顟B(tài)。為了重新啟動(dòng)跟屁蟲(chóng)模式，高爾夫球員必須移動(dòng)到一個(gè)球包車(chē)不與設(shè)定的導(dǎo)航規(guī)則及處理器編程設(shè)計(jì)沖突且能繼續(xù)運(yùn)轉(zhuǎn)的位置。停車(chē)模式由一把安全鑰匙啟動(dòng)會(huì)引起車(chē)上的電子系統(tǒng)將驅(qū)動(dòng)機(jī)械調(diào)到自由輪模式。 Parked Mode已停車(chē)模式Parked mode occurs when off is selected on the key switch. Parked mode enables golf course personnel to lock the vehicle in a parked position so that the driving wheels are locked and the vehicle is disabled from movement.當(dāng)主開(kāi)關(guān)上選擇關(guān)閉狀態(tài)時(shí)，就可以使用已停車(chē)模式。1 A Battery Charge Mode充電模式The battery charge mode occurs in the off position of the key switch and allows recharging of the primary battery through a connection to an external power source. In the preferred embodiment the vehicle automatically enters parked mode when a charging cable is connected and will remain in this mode until the external connection is disconnected. The vehicle will automatically enter parked mode when the charging cable is connected irrespective of whether another mode of operation has been selected.當(dāng)主開(kāi)關(guān)處于關(guān)閉狀態(tài)時(shí)，就可以使用充電模式。在理想狀態(tài)時(shí)，當(dāng)充電電線連接時(shí)，車(chē)輛會(huì)自