【正文】 動(dòng)進(jìn)入已停車模式，在外部連接電線斷開之前，車輛會(huì)一直保持這種狀態(tài)。 Reverse ModeThe reverse mode is a mode of operation that enabled the caddy to reverse with neutral steering. Reverse mode is activated with a switch on the caddy.反向模式是一種操作模式，在空檔駕駛時(shí)能讓車輛反向。2. Operational Description of the RTU遠(yuǎn)程收發(fā)器單元的操作描述The RTU is a transceiver unit that when powered and activated will transmit a unique signal that the corresponding caddy recognizes and locks on to. The operating range of the RTU depends on the frequency that is transmitted by the caddy. The operating distance of the caddy from the RTU will also depend on how the RTU is worn or carried by the player. The maximum distance for operation of the caddy from the RTU is four meters and the minimum distance is 1 meter. When a player with the RTU walks towards and then past the respective caddy the caddy will rotate and follow the player within the predetermined distance range. The follow me distance is adjustable on the RTU.遠(yuǎn)程收發(fā)器單元就是一種收發(fā)器單元在有動(dòng)力并啟動(dòng)時(shí)會(huì)傳送特別的信號(hào)讓相對(duì)應(yīng)的車輛進(jìn)行識(shí)別和定位跟蹤。車輛和遠(yuǎn)程收發(fā)器單元的最大操作距離是4米，最短為1米。跟屁蟲的距離可以在遠(yuǎn)程收發(fā)器單元上進(jìn)行調(diào)整。 and follow me on/off.遠(yuǎn)程收發(fā)器單元有以下功能：開啟/關(guān)閉，以及跟屁蟲模式開/關(guān)。遠(yuǎn)程收發(fā)器單元由一個(gè)內(nèi)部電池提供電源，此電池可以更換也可以通過(guò)單獨(dú)的充電單元充電。 follow me mode switch on/off。 Caddy Antenna system and Receiver (CAR)球包車天線系統(tǒng)和接收器（CAR）The caddy receiver includes a dual antenna system and dual recievers. The receiver provides analogue data to the processor (location system) for processing the current location of the RTU.球包車接收器包括雙重天線系統(tǒng)和雙重收發(fā)器。The Caddy antenna system prises an antenna array that functions as an in phase switched dual antenna array. The dual antenna array provides two separate antenna feeds to the two separate receivers. The quadrature outputs of the two recivers are pared with a phase parator circuit to determine phase change and hence azimuth of the received RTU signal. The CLS system is calibrated for mid position phase parator signal and provides variation left or right to the main processor. When the antenna system is pointing directly at the received signal source there shall be no phase difference and hence no tone or Null state.球包車的天線系統(tǒng)會(huì)組成一個(gè)天線陣列，此天線陣列會(huì)作為同相交換雙天線陣列運(yùn)行。2個(gè)接收器的正交輸出會(huì)與相位比較器線路比較來(lái)確定相位改變和接收到的遠(yuǎn)程接收器單元信號(hào)的方位角。當(dāng)天線系統(tǒng)直接指向接收信號(hào)源時(shí)，就不會(huì)再有相位差異，因此處于零狀態(tài)。距離遠(yuǎn)程接收器單元4米的收發(fā)器的敏感度會(huì)在操作選擇的頻道上對(duì)遠(yuǎn)程收發(fā)器單元傳送的信息區(qū)分進(jìn)入的需要接收信號(hào)到90Dbm水平。The RTU transmits a narrow band signal on a given channel. The receiving antennas are set up with one antenna peak tuned while the other is dip tuned. The antennas operate 90 degrees out of phase. As a result there is a diminution in received signal strength from one antenna. The feeder coil on one antenna is cross coupled to the other antenna and vice versa so they are balanced.遠(yuǎn)程收發(fā)器單元在一個(gè)給定的頻道上傳送窄帶信號(hào)。結(jié)果就是從一根天線接收到的信號(hào)強(qiáng)度會(huì)減弱。The antenna signals are fed to separate receivers. The signals are bined for a summed RSSI reading and output from each receiver is also feed into a phase parator circuit which pares the 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。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。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。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)。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(lái)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(guò)三線系列汽車傳給球包車主機(jī)控制系統(tǒng)。RSSI模擬數(shù)據(jù)水平升高超過(guò)預(yù)定的最高值1米時(shí)。 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。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(guò)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)。從返回的角度，感應(yīng)器就能通過(guò)引起反射物體的距離。球包車周圍會(huì)裝置10個(gè)感應(yīng)器。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。在此情形中，高爾夫球員跨過(guò)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。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。這些控制回路系統(tǒng)以每秒500次的迭代速度運(yùn)行。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 Fr