In one aspect the prent invention broadly resides in a lf-propelled robotic vehicle responsive to a radio frequency signal from a transmitter means including a vehicle frame means; at least two spaced apart receiver means adapted to receive the signal from the transmitter means; a processor operatively associated with the receiver means, said processor is programmed to process input from the at least two spaced apart receiver means to locate the position of the transmitter means and produce an electrical signal for the vehicle to move relative to the transmitter means in accordance with the processor programming; and drive means supported on the vehicle frame means and adapted to receive and act on the electrical signal nt from the processor to move the vehicle in accordance with the processor programming. 一方面，这项发明主要是用一辆自动推进的遥控机器车辆对一台发射装置发射的高频信号进行反应,这包括一台车架装置，至少2台分开的用于接收来自发射装置信号的接收装置；一台与接收装置操作有关的处理器，这台处理器将设计用于处理至少2台分开的接收装置的输入来定位发射装置的位置并按照处理器编程设计发出电子信号指挥车辆移动到相关的发射装置那里，而用于支持车架及适用接收和反应来自处理器电子信号的驱动装置将按照处理器编程设计来移动车辆。 In a further aspect the prent invention broadly resides in a system for a lf- propelled robotic vehicle including transmitter means able to transmit a radio frequency signal; a lf-propelled vehicle including a vehicle frame means; at least two spaced apart receiver means adapted to receive the signal from the transmitter means; a processor operatively associated with the receiver means, said processor is programmed to process input from the at least two spaced apart receivers to locate the position of the transmitter means and produce an electrical signal for the vehicle to move relative to the transmitter means in accordance with the processor programming; and drive means supported on the vehicle frame means and adapted to receive and act on the electrical signal nt from the processor to move the vehicle in accordance with the processor programming. 一颗麦粒进一步地说，这项发明主要是讲包含有能够发射一种高频信号发射装置的一种自动推进遥控机器车辆的系统。一辆自动推进遥控机器车辆包括了一台车架装置，至少2台分开的用于接收来自发射装置信号的接收装置；一台与接收装置操作有关的处理器，这台处理器将设计用于处理至少2台分开的接收装置的输入来定位 发射装置的位置并按照处理器编程设计发出电子信号指挥车辆移动到相关的发射装置那里，而用于支持车架及适用接收和反应来自处理器电子信号的驱动装置将按照处理器编程设计来移动车辆。 The receiver means preferably includes two spaced apart antennas with each operatively linked to a receiver. The receivers are preferably Super Heterodyne type or Near Zero IF type. The antennas are preferably spaced apart at a distance from each other. More preferably, the antennas are 25cm or more spaced apart from each other. 接收装置最好包括2根分开的天线，每根都分别能够与一台接收器连接。接收器最好是超外差接收器或是零中频接收器。天线与天线之间最好有一定的间隔距离。最好的距离是25厘米或者更远。 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 pha. The processor preferably can combine the two signals for a summed RSSI reading and measure a pha shift to determine the position of the transmitter means. 两根分开的天线最好有效的连接使处理器能处理输入的信号来确定发射器的位置。接收的天线最好将一根调整到最高，一根调低，这样2根天线就能保持90度的相反方向。处理器最好能结合2个信号的接收信号强度指示器（RSSI）读数以及测量相位移来确定发射装置的位置。 Preferably the antennas have resonator coils that enable them to be dynamically tuned. With tuning the antenna, the predefined frequency is preferably t by varying the capacitance of the coil by the voltage to peak tune the antenna to the defined frequency. 最好天线能有共振器线圈能让2根天线进行动态调整。调整天线时，预定义的频率最好由变动的线圈电容和电压来设定天线调整到定义的频率。 The transmitter means is preferably a transponder that transmits a signal but not receive a signal. The transmitter means is preferably portable. Alternately transmitter means may be a transponder which is activated on receiving a radio frequency signal from the vehicle and transmits a location signal back to the vehicle. Preferably the transponder is wearable and has a frequency between 200Khz to 8 Ghertz. More preferably the transponder has a frequency between 300 Khz and 500 Khz. 发射装置最好是发射信号而不是接收信号的转发器。发射装置最好是便携式的。代替的发射装置可以是一台转发器来激活接收来自车辆的高频信号并且返回传送一个定位信号给车辆。最好转发器可以配戴，且其频率在200Khz和 8 Ghertz之间。最为理想的是转发器的频率在200Khz 和 8 Ghertz之间。 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. 转发器最好有多个电容能使转发器天线被动态调整转到5KHz的增量来形成5KHz的频道。 信号是由键控率为300Htz的频移键控 调节以及移频为+/- 1 Khz的载波器，载波器的每面都会形成300Htz的音调。 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 parate transmitter channels and negate any adjacent channel interference. 高频信号最好是能按照处理器编程设计识别车辆和驱动车辆移动的适当频率。高频信号最好能设定在频道内。信号处理最好能识别不同的发射器频道并否定所有相邻频道的干扰。 Within the defined range of the radio frequency signals, the number of vehicles responding to transponder specific signals within an area may be incread by one or more methods including random transmission cycle for the transponders where the transmissions are coded so that they can be decoded and ud by the corresponding vehicle. Alternately the frequency from the transponder may be modulated at a FSK keying rate of 500Htz with +/- 1 Khz frequency shift so that the receivers can identify their corresponding transponder. Furthermore the transponder preferably has a random number generator which is ud to trigger transmit time so that transmissions are not synchronized to avoid the situation where multiple simultaneous transmissions are received by a receiver. 在高频信号定义的范围内，一个区域内对转发器特定信号有反应的车辆数量可以通过一种或多种方法增加，包括转发器的任意传递周期，这些传递能够被编码并被解码用于相应的车辆。可以选择的是，转发器的频率在键控率为500Htz以及移频为+/- 1 Khz时可以被调节让接收器识别其对应的转发器。而且转发器最好能有一个随意的数码产生器用来触发传送时间让传送不能同步进行以避免一个接收器同时接收多重传送。 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. 驱动装置最好包括一个有减速齿轮箱的马达及与马达建立有效连接的多个轮子。这几个轮子最好至少有一个轮子由马达驱动。比较理想的形式是，车辆有3个轮子，2个后轮由马达驱动。最好有一个马达与每个后轮都连接。替换的方式就是一个单一的马达有一个 差动齿轮装置来驱动2个轮子。一种理想的方式就是前轮能驱动车辆按照处理器编程设计行驶。 The vehicle frame means preferably includes a frame body and chassis. The vehicle may be any suitable vehicle including a golf caddy, transport vehicle or cart, robotic pallet and robotic assistant. The vehicle preferably has a manual operation system where it does not respond to radio frequency signals and the gears and automatic braking system are preferably dingaged. In the manual mode, the vehicle can be pushed or pulled by a player or alternatively be towed by another vehicle. 车架装置最好是有一个架身和底盘。车辆可以是任何适宜的车辆类型包括球包车，运输车，遥控机器运货板及遥控机器辅助。车辆最好有一个手动装置能对高频信号不做出反应并且齿轮和刹车系统最好是没有捆绑的。在手动模式中，车辆可以由高尔夫球员推或拉或者是由另一辆车拖动。 The vehicle preferably has a collision avoidance system that enables the vehicle to avoid or stop before it contacts an object. The vehicle preferably has a collision avoidance system that has a plurality of infrared ranging transceivers spaced about the vehicle. The collision avoidance system preferably includes infrared charge coupled device (CCD) range nsors located about the vehicle and capable of detecting objects between 0.01 and 5 meters and more preferably up to 1.6 meters from the nsor. The collision avoidance system preferably has guard bands that provide an outer boundary and an inner boundary about the vehicle. Preferably an alarm and or respon in accordance with the processor programming is actuated when an object enters the outer or inner boundaries. The outer boundary is preferably t between 1 and 2 meters and more preferably 1.2 meters from the vehicle. The inner boundary is preferably t between 0.01 and 1 meters and more preferably 0.3 meters for the front of the vehicle and 0.08 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 nsors. The vehicle may also include a satellite navigation system to assist in controlling the movement of the vehicle in a defined area. 车辆最好能有防撞系统能防止车辆碰到异物或是在碰到之前就能停下来。车辆的防撞系统最好能有多个红外线远程收发器。防撞系统应包括红外电荷耦合组件距离传感器来定位车辆及探测距离传感器0.01到5米，最好能到达1.6补钙的食物米。防撞装置最好有防撞频带，为车辆提供一个内频带和一个外频带。最好当异物进入内频带或外频带时，符合编程设计的警报和或反馈能启动。通常外频最好设定在1米和2米之间，1.2米是比较理想的距离。通常内频设定在0,01和1米之间，较为理想的是设定车辆前部为0,3米，车辆侧边为0,08米。最好是编程设计时涵盖当红外电荷耦合组件传感器探测到异物时指导车辆运行的程序。车辆也可以配置一个卫星导航系统在定义的区域内来协助控制车辆的移动。 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. 系统最好能够记录车辆的运行时间。最好车辆能通知远程监控系统是否运行时间正在接近指定的时间。最好所有车辆的使用都有记录。 The vehicle preferably has an override system where the electrical current powering the wheels increas 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 lo traction. 车辆最好能有一个越控系统让为车轮提供能源的电流达到一个临界水平来保持车轮转动。当临界水平达到或超过时，输到马达的电流最好能停止。当车辆爬行一个非常陡的陡坡或车辆太重以及一个或多个车轮失去牵引力时越控系统最好能激活。 In another embodiment the vehicle may have a weight nsor that detects whether the weight of the vehicle is over a predetermined limit and if so the vehicle stops. 另一种方法就是车辆配置重量感应器，来感应车辆载重是否超过了预先确定的极限，如果超过了，车辆就会停止。 In another embodiment the vehicle may have a lateral nsor to detect sideways tipping movement of the vehicle. 另一种方法就是车辆配置侧边感应器来探测车辆的侧边倾翻运动。 In another embodiment the vehicle may have a gradient nsor that is able to n the incline of a gradient and if over a predetermined limit, the processor will prevent the vehicle from continuing movement in the inclined direction. 另一种方法就是车辆配备倾斜感应器，在有倾斜可能以及超过预先确定限制时进行感应，处理器会防止车辆在倾斜方向的继续移动。 BRIEF DESCRIPTION OF THE DRAWINGS图纸简要描述 In order that the prent invention can be more readily understood and put into practical effect, reference will now be made to the accompanying drawings wherein: 为了更好的理解本项发明并能付诸实践，以下是关于图纸的参考资料： Figure 1 is a photograph of a robotic golf caddy of the preferred embodiment of the invention; 图1是本项发明遥控机器球包车较好的表现图片； Figure 2 is a diagrammatic view of the operational components of the robotic golf caddy; Figure 3 is a diagram of decisions with respect to the collision avoidance system; 图2 是遥控机器球包车操作组件的图表概要； 图3 是有关防撞系统结果的图解； Figure 4 is another diagram of decisions with respect to the collision avoidance system; 图4 是有关防撞系统结果的另一份图解； Figure 5 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; 图5 是有关防撞系统结果的另一份图解； 图6 是有关防撞系统结果的另一份图解； Figure 7 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. 图7是有关防撞系统结果的另一份图解； 而且图8也是有关防撞系统结果的另一份图解； DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 理想状态的详细描述 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. 理想状态的详细描述指的是遥控机器球包车。参照图1 ，展示的是一辆遥控机器三轮车，也就是球包车10，这辆车由一个远程收发器单元控制有多种模式。远程收发器单元由高尔夫球员佩戴（比如在一根带子上）或是携带。 The robotic golf caddy 10 can transport a full t golf bag and all the usual golfing accessories whilst following the player with the respective transponder over the primary areas of a golf cour (that is fairways and green to tee walkways). 遥控机器球包车10能运输一整套球包车以及所有的常用高尔夫配件同时在高尔夫球场主要区域（也就是平坦球道和开发球区）按照相关转发器追随高尔夫球员。 The caddy is electronically controlled to be lf managing with regard to the follow function and proceed-no-further 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, lf steering front wheel asmbly 13, rear wheel asmbly 14, rear wheel gear box asmblies and rear wheel drive motors 15, vehicle body 16 and battery housing. 球包车是电子控制，具有以下功能并且自我管理，当高尔夫球员进入一个球包车不适宜区域时，球包车将不再继续运行。球包车电子系统有2根分开的天线11，定向系统，距离确定系统，车辆主机控制器，防撞系统，驱动控制系统，电池和电源供应，电线连接和外接电池充电器。球包车机械系统有一个车架12，自动驾驶前轮组件13，后轮组件14，后轮齿轮盒组件和后轮驱动马达15，车身16和电池筒。 The remote transceiver unit has a housing and belt clip, radio transceiver, lithium ion battery, battery charger and antenna system. 远程收发器单元有一个外套和皮带扣，无线电收发器，锂电池，充电器和天线系统。 The remote transceiver unit mass charging unit has a housing for plugging in eight RTU batteries, AC mains power supply and DC charging unit. 远程收发器单元大量充电装置有一个外套供插入8个远程收发器电池，交流电总电源电力供应和直流电充电单元。 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 preci and consistent frequency that is uniquely coded as well, so that it is identifiable only by its respective Caddy. The unit housing is purpo designed to allow for best form fit and u and will have the following controls integrated onto a single printed circuit board houd internally : power switch (including range switch); follow me mode and On/off switch. 远程收发器单元的主要功能是其为球包车接收器电子和定位系统提供了一个高频传送定位源。因为其主要功能是传送可识别的无线电台信号且有一个精确和连贯的频率也被编码，所以只有相关的球包车能够识别。远程收发器的外套设计的目的就是为了最佳配置和使用，并将下述控制集成到一个单一的内置的印制回路板上：电源开关（包括距离转换开关）；跟屁虫模式和开/关按钮。 The power switch has a latching switch that requires positive and determined action to change state. The power switch will cau the internal electronics to power on. The power switch is integral with range switch and caus the RTU electronics to adjust the power output of the RF transmitter. The follow me mode switch will cau the internal electronics to activate the RF transmission of beacon. 电源开关有一个关闭按钮要求正面和确定的行动来改变状态。电源开关与距离转换开关集成能引起远程收发器单元电子调整高频发射器的电源输出。跟屁虫模式开关会引起内部电子启动无线电台的高频传送。 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 1.5 meters to 4 meters. The device has one Led mounted that are readily visible to the wearer and that indicate when lit: power on; follow me mode 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. 电源开关有4个点，为了达到1.5米到4米的运行范围电源在线性范围增加的点到点之间调整。设备有一个主要安装部分，在指示灯亮时佩戴者能清晰看见：通电，跟屁虫模式以及电量低。远程收发器有可替换的2AA号碱或镍氢电池，能使用2800ma小时。其外部充电器回路从无电到再次充满2800mah的镍氢电池最长仅需6小时。 The caddy and RTU will now be further described with reference to Figures 2 to 8. 球包车和远程收发单元会在图2到图8中进行进一步的描述； 1. Operational Description of the Caddy 球包车的操作描述 The Caddy has veral operating modes in terms of movement which are activated by a key switch. The positions of the key switch include on, off and parking. 球包车移动的几个操作模式由一个主开关启动。主开关的位置包括：开，关和停。 While in any power on mode, the host system will record operating hours of the caddy. 在所有开启模式时，主机系统将记录球包车的运行时间。 1.1 Follow Me Mode跟屁虫模式 There is a parate follow me switch which is either on or off. This mode of operation is the primary mode for u 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 t and their respective motor drives such that the vehicle will follow the RTU at a rate and direction equivalent to the RTU'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. 跟屁虫模式要么开着或者关着。这个模式的操作是使用车辆的主要模式。球包车是由相关的远程收发器单元控制，因为今天不一样2个实体都会键入同样的无线电频率。当远程收发器与球包车分离时，电子系统会确定方向并评估远程收发器移动及控制后轮的驱动机械及相关马达驱动，这样车辆就会以一定的速度跟随远程收发器并按照远程收发器的方向移动。当远程收发器单元启动时，控制系统会确保球包车和远程收发器之间预先确定的距离总会被保持。 This mode of operation will work in conjunction with the collision avoidance system (and where applicable satellite navigation out of bounds system). The 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 re-enable follow me mode, the player must move to a position that the caddy can proceed to without breaching t navigational rules and processor programming. 此操作模式会与防撞系统相结合（适用的卫星导航是在界限系统之外的）。这些系统会提供显示表明跟屁虫模式正在运转还是停止状态。例如，如果佩戴远程收发器单元的高尔夫球员运动到的位置会让处于跟屁虫模式的车辆碰上异物或是移出相关处理器编程设计的区域之外，跟屁虫模式就会不起作用且停止运转。为了重新启动跟屁虫模式，高尔夫球员必须移动到一个球包车不与设定的导航规则及处理器编程设计冲突且能继续运转的位置。 Follow me mode is disabled by turning the switch to the off position. 把开关调到关闭位置时，跟屁虫模式就停止运转了 1.2 Parking Mode停车模式 Parking mode is a mode of operation that allows golf cour personnel to manipulate the vehicle without the u of the respective RTU. The parking mode is enabled by a curity key and will cau the on-board electronic systems to put the drive mechanism into free wheel mode such that the unit can be manually manoeuvered to a required parking position. 停车模式是一种操作模式，允许高尔夫球场的人员能在不使用相关远程收发器单元时操作车辆。停车模式由一把安全钥匙启动会引起车上的电子系统将驱动机械调到自由轮模式。这样这样单元就能被手动调节到所需的停车位置。 1.3 Parked Mode已停车模式 Parked mode occurs when off is lected on the key switch. Parked mode enables golf cour personnel to lock the vehicle in a parked position so that the driving wheels are locked and the vehicle is disabled from movement. 当主开关上选择关闭状态时，就可以使用已停车模式。已停车模式能让高尔夫球场的人员将车辆锁在停车状态，这样车轮就会被锁住，车辆就不能再移动了。 1 A Battery Charge Mode充电模式 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 lected. 当主开关处于关闭状态时，就可以使用充电模式。可以通过连接外部电源对主要的电池进行充电。在理想状态时，当充电电线连接时，车辆会自动进入已停车模式，在外部连接电线断开之前，车辆会一直保持这种状态。在连接充电电线时，无论选择了任何一种模式，车辆都会自动进入停车模式。 1.5 Rever Mode The rever mode is a mode of operation that enabled the caddy to rever with neutral steering. Rever mode is activated with a switch on the caddy. 反向模式是一种操作模式，在空档驾驶时能让车辆反向。反向模式由车辆上的一个开关启动。 2. Operational Description of the RTU远程收发器单元的操作描述 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. 远程收发器单元就是一种收发器单元在有动力并启动时会传送特别的信号让相对应的车辆进行识别和定位跟踪。车辆和远程收发器单元的操作距离也将取决于高尔夫球员怎样佩戴和携带远程收发器单元。车辆和远程收发器单元的最大操作距离是4米，最短为1米。当高尔夫球员走向以及经过相关球包车时，球包车会翻转然后在预先确定的范围之内追随高尔夫球员。跟屁虫的距离可以在远程收发器单元上进行调整。 The RTU has the following functions: power on/off; and follow me on/off. 远程收发器单元有以下功能：开启/关闭，以及跟屁虫模式开/关。 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 parate charger unit. 远程收发器单元是一个可携带的收发器系统，启动时能传送必须的信号让车辆收发器和定位系统来确定收发器和高尔夫球员的位置。远程收发器单元由一个内部电池提供电源，此电池可以更换也可以通过单独的充电单元充电。 3. Operation Description of the Caddy 球包车操作描述 The caddy has the following function lections: power on/off/parking key switch); follow me mode switch on/off; rever mode switch on/off. 球包车有以下功能选择：电源开/关/停车 主开关；跟屁虫模式开/关；反向模式开/关。 3.01 Caddy Antenna system and Receiver (CAR)球包车天线系统和接收器（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. 球包车接收器包括双重天线系统和双重收发器。接收器给处理器（定位系统）提供模拟数据让其处理远程收发器单元的当前位置。 The Caddy antenna system compris an antenna array that functions as an in pha switched dual antenna array. The dual antenna array provides two parate antenna feeds to the two parate receivers. The quadrature outputs of the two recivers are compared with a pha comparator circuit to determine pha change and hence azimuth of the received RTU signal. The CLS system is calibrated for mid position pha comparator 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 pha difference and hence no tone or Null state. 球包车的天线系统会组成一个天线阵列，此天线阵列会作为同相交换双天线阵列运行。这个双天线阵列会向2个分开的接收器提供2根分开的天线。2个接收器的正交输出会与相位比较器线路比较来确定相位改变和接收到的远程接收器单元信号的方位角。CLS系统会校准中间位置相位比较器的信号并为主要的处理器提供左或右的偏差。当天线系统直接指向接收信号源时，就不会再有相位差异，因此处于零状态。 The receiver may be a conventional Super Heterodyne type or may be a Near Zero IF type. The receiver nsitivity allows it to differentiate an incoming wanted receive signal on its lected 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]conds. 接收器可以是常用的超外差接收器或者是零中频接收器。距离远程接收器单元4米的收发器的敏感度会在操作选择的频道上对远程收发器单元传送的信息区分进入的需要接收信号到-90Dbm水平。接收器会提供精确的RSSI模拟水平比例到接收信号的水平，此接收信号的水平是在20∪秒的时间范围内，2根天线的测量总计。 The RTU transmits a narrow band signal on a given channel. The receiving antennas are t up with one antenna peak tuned while the other is dip tuned. The antennas operate 90 degrees out of pha. 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. 远程收发器单元在一个给定的频道上传送窄带信号。接收天线是由一个调到最高，一根调低的2根天线组成，这2根天线成90度的异相操作。结果就是从一根天线接收到的信号强度会减弱。一根天线上的供应器线圈会交叉耦合到另一根天线上，另一根天线也是这样，所以2根天线就平衡了。 The antenna signals are fed to parate receivers. The signals are combined for a summed RSSI reading and output from each receiver is also feed into a pha comparator circuit which compares the pha of the two signals. The result of the comparison is a range of out-of-pha measurements dependent on the RTU movement. An analogue signal dependent on the pha shift is then generated. 天线的信号会传到分开的接收器。信号会组合成一个综合RSSI读数，每个接收器的输出也会提供给相位比较器线路来比较2个信号的相位。比较的结果是根据远程收发器单元移动的一系列异相测量。然后会生成基于相位移的模拟信号。 This signal is nt to the processor to calculate the angle of the RTU relative to the centre between the antennas. 发射到处理器的信号会计算远程收发器单元与相关天线之间中心的角度。 3.02 Caddy Location system (CLS)球包车定位系统 The location system accepts analogue data from the caddy receiver which it process 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 preprocesd (PLD processing) to provide the system host controller with an operational state. If the preprocesd signals indicate that the caddy is outside the desired distance, then the processor receives a default error signal thereby initiating a respon by the caddy to reposition itlf to its desired distance. 定位系统接受来自球包车收发器的模拟信号，进行持续处理后便能以电子形式向系统主机控制器提供角度和距离的定位数据。信号处理后提供给系统主机控制器的是一种运行状态。如果处理的信号表明球包车在希望距离之外时，处理器就会收到系统设置的错误信号，球包车会作出反应重新确定位置到希望的距离。 The location system has a parate logical function that will take analogue data from the CAR system in terms of tone/pha and RSSI and convert it to positional data and nd it on a continuous change basis to the caddy host control system (CHC) via a three wire rial 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 nd an RTU Off or out of range heartbeat to the CHC. Should the RSSI analogue data level ri above a t maximum for 1 meter then CLS will indicate to the CHC that a golfer with RTU enabled is prent and has approached the Caddy within the minimum operating distance of 1.5 meters from antennas. 定位系统有一个单独的逻辑功能，会将来自CAR系统的声音信号/相位和RSSI的模拟信号转化成位置数据并在不断变动的基础上通过三线系列汽车传给球包车主机控制系统。在此过程中，模拟数据不会改变，远程收发器单元没有打开或在范围之外时，CLS会发出远程收发器关闭或范围之外的律动给球包车主机控制系统。RSSI模拟数据水平升高超过预定的最高值1米时，CLS会向球包车主机控制系统提示携带远程收发器单元的高尔夫球员在场且其正在接近球包车在距天线最低操作距离1.5米内。 3.03 Collision detection system. 碰撞探测系统 The requirement of the collision system is for the caddy to turn off before contact with a solid object.这个碰撞系统要求在碰上硬物前球包车能绕开硬物。 3.04 Collision avoidance system防撞系统 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 cea motion prior to a collision and that an indication is given to the player as to why the unit has stopped. 防撞系统会确定在一个确定的最低距离内车辆的道路上是否会有任何足够大的物体，一旦出现就会通知主机控制器。主机控制器会在移动系统中运用刹车装置，这样在遇到碰撞之前，球包车就会停止移动并且会告知高尔夫球员为什么装置会停止。 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 u of infrared (IR) CCD (charge coupled device) nsors which transmit a narrow beam width of IR wavelength light with a CCD nsor that looks at any reflections of its own signal being returned. From the angle at which it is returned the nsor is able to determine the distance from the nsor of the reflecting object. The nsor provides an output that is an analogue voltage reprentation of measured distance. Ten nsors are positioned around the caddy and can detect anything out to 1.6 meters from the nsor. There is an outer band around the forward motion ction of the caddy of 1.2 meters and an inner boundary of 0.3 meters. The side nsors are t with an inner boundary of 0.08 meters. 防撞系统的主要功能是确定车辆正在移动或如果在车辆计划通过的路上1米或不到1米的距离时存在任何异物时打算移动。探测过程通过使用红外电荷耦合组件感应器实施，这些感应器会传送红外波长灯光的一个窄的波束宽度同时一台电荷耦合组件感应器会观察其自身信号返回的所有反射。从返回的角度，感应器就能通过引起反射物体的距离。感应器提供的输出是测量距离的模拟电压表示。球包车周围会装置10个感应器，并能感应距感应器1.6米之间的所有物体。球包车向前移动的外圈为1.2米，内部界限为0.3米。感应器侧边的内部界限为0.08米。 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 t 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. 红外电荷耦合组件阵列能探测场地视野里左边，前面或右边的任何物品。前方移动主要取决于阵列的探测内容以及编程设计定义的规则的影响。例如，即使异物在远程收发器和球包车之间，我们也能防止球包车撞上异物。在此情形中，高尔夫球员跨过一个异物且突然左转，球包车会继续前进直到在左转之前异物被清除。 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. 如果在每个红外电荷耦合组件视野范围确定的周围，此设备不会判定运行而是仅仅向球包车主机控制系统报告。 The control system that commands motion as a respon 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 itlf another constantly operating loop that is calculating the location of its designated RTU and is tting 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). The control loops are operating at a rate exceeding 500 iterations per cond. The Follow me control loop issues commands to the Motion controller such that the vehicle will move so that the Location system returns a Zero position for range and bearing. 操控运行的控制系统响应跟屁虫模式，并不断考虑所有区域的输入状态。跟屁虫的功能类似启用的控制回路系统，响应定位系统提供的数据的变化，而定位系统是另一个不断运行的回路系统，用于计算指定的远程收发器的位置，确定相对于起始位置距离及方位上的误差。起始位置或零位是理想的距离（2 - 4米）和方位（0辞职信30字度）。这些控制回路系统以每秒500次的迭代速度运行。跟屁虫控制回路向运动控制器发出命令，使得车辆运行，以使定位系统返回到零位置的距离和方位。 The collision avoidance data is fed to the Follow me control loop on a continuing basis so that all decisions to issue motion commands take the zone status into effect. For example, if the Front outer zone is breached but the front inner zone is not and both left and right zones are clear then the Caddy is allowed to rotate right or left but not proceed forward. If the location system indicates a range error requiring forward movement then the Caddy will not move and a collision inhibit state is in force. If the location system indicates an azimuth error but not a range error then the caddy will swing right or left as may be required. In the event this action results in the front outer zone breach being cleared, then the forward motion inhibit will be removed. In the event that any zone inner band is breached, then the vehicle stops and manual intervention will be required. When negotiating a ri, the Caddy Motion Control in conjunction with the Location system is constantly attempting to keep the Caddy located at 2 to 4 meters from the golfer with its respective RTU and on a bearing of zero degrees. This is achieved by operating in clod loop mode once the RTU has been acquired by the Radio Location system. Any movement of the RTU relative to the Caddy will cau a t of error signals to be output from the location system which will be dynamically responded to by the Host Controller in commanding the motion control system to move such that the location system error is reduced to zero. 防撞系统数据持续输入到跟屁虫控制回路，因而所有发出的运行指令的决定会启动区域状态。例如，如果前外区检测到障碍物，而前内区和左、右区无障碍物，则允许球包车向左或向右转向，但不能再向前运行。如果定位系统显示要求向前运动的距离误差，那么球包车就不会移动而碰撞抑制状态就会生效。如果定位系统指示方位误差而不是距离错误，那么就可能要求球包车向右或向左运行。一旦上述操作将前外区障碍物清除，就会取消阻止向前运动的指令。如果侵犯区域内的任何内频带，那么该车辆将停止，要求人工干预。球包车运行控制系统与定位系统一起不断尝试将球包车定位在距离具有各自远程收发器的高尔夫球员2至4米的距离，零度方位。一旦无线定位系统捕捉到远程收发器，这是在回路系统关闭模式下实现的。任何相对于球包车的远程收发器的运动都会引起定位系统输出一系列错误信号，控制运动控制系统的主控制器会导致定位系统动态地运行，将定位系统的误差减小到零。 In the event of a caddy following a golfer up a ri then the same applies and the host will increa the motion commands consistent with tracking the RTU at its zero range and azimuth position. Equally when traversing down a ri then the Host will issue motion command consistent with the reduced level of power required such that the Caddy maintains its required distance. This process is in a loop control whereby the location of the RTU and the vehicle position process is occurring at up to 500 times per cond. 当球包车随着高尔夫球员水平向上运行，上述方法同样适用，并且主机将与跟踪的设备收发器零范围和方位上增加运行指令。同样，当水平向下运行时，主机会发出与所需功率下降要求的运动命令，从而使球包车保持必要的距离。这一过程在回路控制系统发生，远程设备收发器的定位及车辆定位过程以高达每秒500次发生。 With regard to the Caddy negotiating trees and other obstacles, the Caddy will not drive into a tree should a golfer attempt to achieve same. For example if a golfer walks to a tree then goes immediately around it the caddy will continue only if its path forward is clear and no inner zone faults are being detected. In this event it is unlikely and the Caddy will stop. If however the golfer walks past a tree to a distance that is greater than half the width of the Caddy plus 300mm and then turns behind the tree the Caddy will continue going forward until it has clear guard zone status and then turn. The same applies with respect to any object whether it is a tree or a person. Where there is another golfer or caddy, the two golfers each have their own RTU and Caddy and may walk together in parallel along a fairway. In this instance, the golfers may be clor together than the Collision Avoidance System will allow. The Caddy behavior will be such that the left hand unit will have its right outer guard zone limit breached and the right hand unit will have its left hand outer guard zone limit breached. This will result in the left hand unit being inhibited from turning right and the right hand unit being inhibited from turning left. Should one golfer (say the right hand one) walk left across the path of the other then his caddy will not follow him as it is inhibited. This will result in the Caddy loosing contact with its respective RTU and it will stop. The other golfer will have continued on his way and will have effectively pasd the other. The golfer who has now lost touch with his caddy and will have to walk back to it to regain contact. However a collision has been avoided. Figures 3 to 8 illustrate the decision making process of the collision avoidance system. 至于球包车设定的树木和其他障碍，如果高尔夫球员不试图撞树，那么球包车不会冲撞到树木。例如，如果一个高尔夫球员朝一棵树走去，在撞树前立即绕开树走，那么球包车只有在确认前方道路不存在障碍物且未检测到内区故障才会继续向前方运行。而这种情况不大可能，一般情况下所有球包车将停止运行。然而，如果该球员走过去一颗树的距离大于球包车宽的一半与300mm的和，然后转身到树后，那么球包车就会继续向前运行直到确认防范区的状态才会转向。这适用于包括树木或人的所有障碍物。当出现另一个球员或球包车时，两个球员都有自己的远程设备收发器和球车，沿着道路平行向前走动。在这种情况下，球员之间的距离可能近到防撞系统允许的范围之外。球车的运行将会出现下列情况：左手边的右外防护区限制违反，右手单元的外防护区限制违反。这将导致左手单元被阻止向右转，右手单元被阻止向左转。如果一个球员（比如右手边）向左走过另一球车的路径，那么他的球包车不会跟他走，原因是它的运动已经被阻止。这将导致球包车与各自的远程设备收发器失去联系，停止运行。另一个球员将继续运行，并超过第一个球员。而与球包车失去联系的高尔夫球员需要走回到球包车旁恢复连接。但这却避免了碰撞。图3至8显示了防撞系统的运行过程图。 3.05 Keep out system 遮挡系统 The Keep out system is a satellite navigation receiver that is continuously updating its position data and it provides such data to the host controller. The host controller has a table of allowable co-ordinate data within which the caddy is allowed to operate and if the co-ordinates indicate attempted movement outside of the coordinates then it will stop movement. This is an optional feature for the caddy. 遮挡系统是一种卫星导航接收器，不断更新其位置数据，并将该等数据提供给主控制器。主机控制器有一个允许的坐标数据表，在这个坐标数据范围内允许球包车运行，但如果坐标显示运动超过坐标范围之外的话，球包车将停止运行。这是球包车的一项可选功能。 3.06 Vehicle host controller ( or Caddy Host Controller System (CHC)) The vehicle host controller system is responsible for managing all aspects of the vehicle operation. It determines operation of the vehicle bad on the appropriate stimuli for the vehicles mode of operation as described. 3.06车辆主控制器（或球包车主机控制器系统（CHC）） 车辆主控制器系统负责管理车辆运行的所有方面。它基于规定车辆的运行模式的适当刺激决定车辆运行的模式。 When in follow me mode, it accepts data from the location system along with status from the collision and keep out systems. It controls the operation of the drive control ction so that the caddy will continuously change its position bad on movement of the remote unit. 在跟屁虫模式下，车辆主控制器接受来自定位系统的数据以及防撞系统和遮挡系统的状态。它控制驱动控制器单元的运作，从而使球包车可以根据远程控制器单元的运动不断改变位置。 When in parking mode it controls the drive control ction so that the motors and or gearboxes are in neutral mode and no brake or lock is applied. 处在停车模式下，主控制器控制驱动控制器单元，从而使电机和变速箱处在中性模式下，未使用刹车或锁。 When in parked mode, it controls the drive control ction such that the motors are disabled and the gearboxes and or brakes are applied. It manages all auxiliary functions of the caddy including the lection and indication of operational modes as well as interlocks that are interference or safety related. 当处在停车模式时，主控制器控制驱动控制器单元，电机已禁用，变速箱和或刹车被启用。它控制着球包车的所有辅助功能，包括运作模式的选择和显示以及涉及干扰或安全的联锁。 It takes input from a collision detection system, collision avoidance system and or keep out systems and controls movement in accordance with prescribed parameter ba data. 它从一个碰撞检测系统、防撞系统和或遮挡系统取得输入数据，并按照规定的参数基础数据控制运动。 It controls all LED operating status indication. 它控制着所有LED操作状态显示。 四年级下册奥数题It provides audible annunciation by way of Beeps for any status change 它通过蜂鸣声为任何状态变化提供听得见的警报。 It maintains a logging process of all caddy operation and u that can be extracted for external analysis if required. 它保留着球包车所有操作和使用的登录过程，在外部分析需要时可提取使用。 It maintains a register of allowable hours of u and will prevent commencement of operation if the hours have been exceeded 它保留着许可使用时间的登记，如果时间已超过，还能防止车辆继续运行。 It monitors battery condition and will advi if battery health has diminished below a pret operating margin. It has provision for data and software update via USB port. 它可以监控电池的状态，并会告知电池健康状况是否低于预设的运行参数要求。它通过USB接口对数据和软件更新进行规定。 It has provision for in vehicle updating of allowable hours such updating to be by either keypad encrypted entry triggered from the host controller rial number or by USB port with an encrypted update and destroy process. 它提供车辆允许时数更新的规定，比如通过主机控制器序列号键盘加密入口或通过USB端口与一个加密的更新和破坏过程的更新。 When in Follow me Mode, the CHC will accept position and distance update data from the CLS and bad on rate of change will compute the speed and steering direction to instruct the CMC (Caddy Motion Control system). 在跟屁虫模式下，球包车主机控制系统将接收来自CLSDE 位置和距离的更新数据，并根据变化率计算速度和操作方向以控制球包车运动控制系统。 The CHC operates in a clod loop mode between the CLS data feed and the Command mode to the CMC so that it is continuously attempting to locate the Caddy at a fixed distance from the RTU bad on the RSSI parameter ttings. The CHC also has maintenance mode operation whereby it can update hours, save log data, alter parameter ttings and upgrade its internal firmware. 球包车主机控制系统在CLS的数据反馈和CMS命令模式之间的回路关闭模式下运行，从而可以按照RSSI的参数设置不断地尝试将球包车定位在在距离远程设备接收器固定的位置。球包车主机控制系统还可以在维护模式下运行，在该模式下可以更新时间，保存记录数据，改变参数设置和升级内部固件。 The CHC maintains a support level of utility which allows for the maintenance of usage hours along with the ability to upgrade all system firmware and operating parameters. 球包车主机控制系统维持一个使用的支持位，允许维护使用时间及升级所有系统固件和操作参数的性能。 It maintains a log of all key operating functions and exception events and will time stamp them with date and time. 它保留着所有主要操作功能和异常事件的记录，用时间与日期戳记它们。 3.07 Drive control system (Caddy Motion Controller (CMC)) The drive control system is an integral unit that accepts commands from the host control as to required actions. It is capable of controlling two parate motors on a synchronized basis. 3.07传动控制系统（球包车运动控制器（CMC）） 驱动控制系统是一个完整的单元，接收来自主机的控制命令以采取必要的行动。它可以同步控制两个独立电动机。 It is able to individually drive each motor in either forward or rever concurrently. It is able to be pret for rates of acceleration and deceleration and support motor braking and locking. 驱动控制系统单独驱动任一电机同时前进或后退。驱动控制系统可以预设加速和减速率，支持电机刹车和锁定。 It is able to monitor its own operating temperature as well as motor temperature and is capable of de-rating its operation if temperature limits are reached. Motor drive circuitry in either direction and for either motor have stall detection such that if the current to the motors increas arbitrarily then the motor drive will be terminated. 驱动控制系统能够监测自身的运行温度以及电机温度，并可以在温度达到限度时中止其运行。 两个方向上的电机驱动电路有失速检测，如果供应电机的电流增大，电机驱动器将被终止。 3.08 Battery and power supply The vehicle runs on a 12 Volt power source which has sufficient capacity to supply the requisite power demand of all electronics and electrical requirements of the vehicle for a full day's operation. 3.08电池和电源供应器 车辆在12伏特的电源下运行，足够为所有电子的全天运行提供必须的电源满足车辆的电源要求。 The battery directly feeds the drive control unit and via a parate filter all electronic asmblies within the vehicle on a distributed basis. Each electronic asmbly has the requisite DC to DC converters to provide its own DC supply rails. 电池直接为驱动控制单元供电，并通过一个单独的过滤器，分散供应给车辆内的所有电子组件。每个电子组件都有必要的直流到直流转换器以提供自己的直流电源轨。 3.09 Battery charging system 3.09电池充电系统 The Battery charging system is parate and external to the caddy. It is connectable via an industrial grade High current DC Connector mounted on the exterior of the caddy. 电池充电系统与球包车分离，在球包车的外部。它通过一个工业用高电流连接器进行连接，连接器安装在球包车的外部。 All electronics within the vehicle will be turned off as a function of plugging power to the vehicle. 车内的所有电子设备将被关闭，作为车辆的插入电源。 The battery charger system is commercially available off the shelf unit that will run from 90 to 250 VAC and will recharge a healthy battery from discharge to full in eight hours or less. 电池充电系统是从货架上可以购买到的产品，在90到250伏交流电下运行，在八个小时或更少时间能将性能良好的电池充满电。 3.10 Maintenance control panel (or Caddy maintenance control panel(CMP)) 3.10维护控制面板（或球包车维护控制面板（CMP） The maintenance controller is a control panel that connects to the caddy via a flexible cable or USB port. When the CMP is connected to the caddy, the caddy recognizes that it is connected and automatically places the system in maintenance mode. The control panel provides controls for "forward and rever" motion and "left right" steering. The system will action any commands from the panel and drive the motors at a slow fixed speed. Maintenance mode will override any tting of the caddy mode switch except parked. The Caddy maintenance panel is a small hand held controller that connects to the Caddy via a spring coil cable and a aled Cannon USB connector. Its function is to allow for maintenance personnel to instigate powered motion and steering to the Caddy independent of the "Follow Me system". It has two switches that are three position spring return to Centre toggle type: 维护控制器是一个控制面板，由软电缆或USB端口连接到球包车。维护控制面板连接到球包车时，球包车就能意识到它已连接维护控制器，并自动地调整到维护模式。控制面板提供了“正向和反向”和“左右”转向运动控制。该系统将执行控制面板的任何指令，以固定的慢速启动马达。维护模式将清除除停车模式外的任何球包车模式开关设置。球包车维护面板是一个很小的手持控制器，通过弹簧电缆和一个密封的佳能USB接口连接到球包车。它的功能是允许维修人员不用跟屁虫系统就能完成球包车的运行和转向。它有两个三位中心切换型开关： Switch 1. controls forward and rever motion at a fixed slow speed. Position up shall cau motion forward. Switch down shall instigate motion in rever at slow speed. Centre position is neutral. 开关1 以固定慢速控制正向和反向运行。开关向上引起向前运动。开关向下球包车反向运行。开关在中间位置时球包车停止运行。 Switch 2 controls steering. Switch left caus the vehicle to steer left when motion is active. Switch right caus the vehicle to steer right when motion is active. Switch centre position is a steer neutral position (i.e. straight ahead). 开关2 控制转向。球包车启动后，开关向左车辆将向左转。开关向右车辆右转运行。开关处在中间的位置时车辆不转向（即向正前方运行）。狐狸进村歇后语 When the cable is inrted into the Caddy connection point the CHC will n its prence and if not in Parked mode will disable lected mode of operation and only respond to control from the CMP. All enclosures are cured from tampering and that a permanent indication that enclosures have been opened is required. All external communications are electronically password protected and connect activity logged. 当电缆插入到球包车连接点时，球包车主机控制系统能检测到，如果球包车不是在停泊模式下将禁用选定的运作模式，只受球包车维护控制面板的控制。所有内部设备参数要确保安全，要求对内部设备开关情况提供永久显示。所有外部通讯都受电子密码保护，并记录所有连接活动。 The advantage of the preferred embodiment of the robotic vehicle is that it is a lf-powered, lf-steered vehicle (caddy) that will faithfully follow a portable receiver (RTU) at a defined distance. The vehicle will not enter zones that are pret into the system as a t of satellite navigation way points if the option is installed. Further the vehicle will stop and cea moving if contacting any solid object. The vehicle will n impending collision with a solid object in its path and will stop prior to collision. The vehicle will obrve objects that are parallel to its cour and if within a distance of <200mm will inhibit the steering such that the vehicle is not able to collide even if the RTU instructs a convergence path. 遥控机器人车辆的优势首先体现在于它是一个自动供电、自动转向的车辆（球包车），在设定的距离外忠实地跟随便携式接收器（RTU）。车辆将不会进入作为卫星导航路线预先设定给系统的区域，前提是选择了该功能。此外，车辆如果接触到任何固体物，车辆将停止运行。车辆将检测到运行路线上与固体即将发生碰撞，在碰撞之前，车辆将停止。车辆将检测与其运行方向平行的障碍物，如果在距离在200mm，车辆将抑制转向，因为即使便携式指示一个收敛路径，车辆也不会发生碰撞。 The vehicle will n unsafe gradients and will cea following if acceptable operating limits are exceeded. It will be able to be easily parked by Golf cour personnel and will have the ability to be locked and parked so as to defeat any unauthorized usage. 车辆会检测到不安全的梯度，如果超过可接受的运行范围则将停止。高尔夫球场人员能够很容易停车，车辆还可以被锁定和停泊，以防止任何未经授权的使用。 Vehicle will have load nsing such that if the vehicle is overloaded it will not attempt to operate. 车辆还具备负荷传感，如果车辆超载，车辆不会尝试运行。 Vehicle will have a parate cable connected maintenance control panel to enable manual control of vehicle motion drive and steering functions. 车辆有一个单独的电缆连接的维护控制面板，可以手动启用车辆运动驱动和转向功能。 Each unit is uniquely coded along with its remote unit such that they will only intemperate with each other. 每个单元具有独特的编码以及远程单元，而各个单元之间只能相互配合。 VARIATIONS It will of cour be realid that while the foregoing has been given by way of illustrative example of this invention, all such and other modifications and variations thereto as would be apparent to persons skilled in the art are deemed to fall within the broad scope and ambit of this invention as is herein t forth. 变化 当然，虽然前面我们通过举例对本发明进行了阐述，但对于本领域的专业人士而言，显而易见，所有这些和其他修改和变化都应被视为包含在更广的范围及本发明的范围之内，正如如下规定。 Throughout the description and claims this specification the word "compri" and variations of that word such as "compris" and "comprising", are not intended to exclude other additives, components, integers or steps 在本规范书的全部说明和陈述当中，“包括”一词及该词的同义词，并不排除其他附加部分，组成部分，变化或步骤。 1. A lf-propelled robotic vehicle responsive to a radio frequency signal from a transmitter means including； a vehicle frame means； at least two spaced apart receiver means adapted to receive the signal from the transmitter means； 1．一个接收从发射器发出的射频信号自动推进的遥控机器车辆包括; 这包括一台车架装置； 至少2台分开的用于接收来自发射装置信号的接收装置 a processor operatively associated with the receiver means, said processor is programmed to process input from the at least two spaced apart receiver means to locate the position of the transmitter means and produce an electrical signal for the vehicle to move relative to the transmitter means in accordance with the processor programming; and drive means supported on the vehicle frame means and adapted to receive and act on the electrical signal nt from the processor to move the vehicle in accordance with the processor programming. 与接收装置操作相关的处理器，被编程以处理从至少2台分开的接收装置输入数据，定位发射器的位置并发出电子信号，按照处理器编程驱动车辆；车架装置上安装有驱动装置，以适应接收和处理处理器传送的信号，按照处理器的编程驱动车辆运行。 2. A system for a lf-propelled robotic vehicle including 自动推进的遥控机器车辆系统包括 transmitter means able to transmit a radio frequency signal; 传送装置可以传送波频信号； a lf –propelled vehicle including a vehicle frame means; at least two spaced apart receiver means adapted to receive the signal from the transmitter means; a processor operatively associated with the receiver means, said processor is programed to process input from the at least two spaced apart receivers to locate the position of the transmitter means and produce an electrical signal for the vehicle to move relative to the transmitter means in accordance with the processor programming; and drive means supported on the vehicle frame means and adapted to receive and act on the electrical signal nt from the processor to move the vehicle in accordance with the processor programming。 自动推进的遥控机器车辆系统包括一台车架装置，至少2台分开的用于接收来自发射装置信号的接收装置；一台与接收装置操作有关的处理器，一台与接收装置操作有关的处理器，这台处理器将设计用于处理至少2台分开的接收装置的输入来定位发射装置的位置并按照处理器编程设计发出电子信号指挥车辆移动到相关的发射装置那里，而用于支持车架及适用接收和反应来自处理器电子信号的驱动装置将按照处理器编程设计来移动车辆。 3. A system as claimed in claim 2 wherein the receiver means includes two spaced with each operatively linked to a receiver，the receiving antennas are arranged with one antenna peak tuned and the other is dip tuned so that they are 90 degrees out of pha and wherein the two signals are combined for a summed RSSI reading and measure a pha shift to determine the position of the transmitter means。 3 在声明2项中所述的系统中，接收装置最好包括2根分开的天线，每根都分别能够与一台接收器连接。接收的天线最好将一根调整到最高，一根调低，这样2根天线就能保持90度的相反方向。处理器最好能结合2个信号的接收信号强度指示器（RSSI）读数以及测量相位移来确定发射装置的位置。 4. A system as claimed in claim 2 or 3 wherein the transmitter means is a transponder that nds a signal at a frequency between 200Khz to 8 Ghertz， 在声明2项中所述的系统中，发射装置是发射200Khz to 8 Ghertz信号的转发器。 5. A system as claimed in claim 2 or 3 wherein the transmitter means is a transponder that nds a signal at a frequency between 300Khz and 500 Khz 在声明2和3中所述的系统中，发射装置是发射300Khz到500 Khz信号的转发器。 6. A system as claimed in any one of the preceding claims wherein the transmitter means is a transponder and has an antenna that can be dynamically tuned shifted in 5KHZ increments to form 5HKZ channels. 6. 在上述声明中所述的系统中，发射装置是一个转发器，装有天线，天线能动态调整转到5KHz的增量来形成5KHz的频道 7. a system as claimed in any one of the preceding claims wherein the transmitter means is a transponder that can nd out a unique signal recognized by its partnered vehicle . 瑞恩的井在上述声明中所述的系统中，发射装置是一个可以发出匹配车辆识别的独特信号的转发器。 8． A system as claimed in any one of the preceding claims wherein the transmitter means is a transponder that can nd out a unique signal recognized by its partnered vehicle, said signal is modulated by frequency shift keying at a rate of 300Htz or 500Hkz with+/- 1Khz frequency shift. 8 在上述声明中所述的系统中，发射装置是一个可以发出匹配车辆识别的独特信号的转发器，所说的信号由键控率为300Htz或500Hkz的频移键控调节，移频为+/- 1 Khz。 9. A system as claimed in any one of the preceding claims wherein the transmitter means is a transponder that can nd out a unique signal recognized by its partnered vehicle, said transmissions are not synchronized to avoid the situation where multiple simultaneous transmissions are received a receiver. 9. 在上述声明中所述的系统中，发射装置是一个可以发出匹配车辆识别的独特信号的转发器，传送不是同步进行以避免一个接收器同时接收多重传送。 10. A system as claimed in any one of the preceding claims wherein the drive means includes o front wheel which steers the vehicle in accordance with the processor programming and two rear wheels each of which are operatively connected with a motor. 10 在上述声明中所述的系统中，驱动装置包括前轮能驱动车辆按照处理器编程设计行驶及2个后轮，每个后轮的操作都与一个马达相连接。 11. A system as claimed in any one of the preceding claims wherein the vehicle has a collision avoidance system that has a plurality of ranging transceivers spaced about the vehicle 11 在上述声明中所述的任何系统中，车辆装有防撞系统和多个远程收发器 12. A system as claimed in any of the preceding claims wherein the vehicle has a collision avoidance system that has a plurality of infrared ranging transceivers spaced about the vehicle, the infrared ranging transceivers include infrared charge coupled device (CCD) range nsors located about the vehicle and capable of detecting objects up to 1.6 meters from the nsor. 12在上述声明中所述的任何系统中，车辆装有防撞系统和多个红外收发器，红外收发器包括装在车辆上的红外电荷耦合器件距离传感器（CCD），能够检测距离传感器16米外的物体 13. A system as claimed in any one of the preceding claims wherein the vehicle has a collision avoidance system that has a plurality of infrared ranging transceivers spaced about the vehicle, said collision avoidance system has an outer boundary t approximately 1.2 meters from the vehicle and an inner boundary t approximately 0.3 meters for the vehicle and approximately 0.08 meters for the of the vehicle. 13 在上述声明中所述的任何系统中，车辆装有防撞系统和多个红外线收发器，防撞系统有一个距离车辆大约1.2米远的外频带，车辆的内频带大约为前部0,3米，车辆侧边为0,08米。 14. A system as claimed in any one the preceding claims wherein the vehicle includes a satellite navigation system to assist in controlling the movement of the vehicle in a defined area. 14 在上述声明中所述的任何系统中，车辆配置有一个卫星导航系统在定义的区域内协助控制车辆的移动。 15. A system as claimed in any one the preceding claims wherein the vehicle has t he capability of recording the operational time of the vehicle. 15. 在上述声明中所述的任何系统中，车辆具有记录车辆操作运行时间的功能。 16. A system as claimed in any one the preceding claims wherein the means includes electrical motor driven wheels and the vehicle has an override system where the electrical current powering the wheels increas up to a threshold level to keep the wheels turning , wherein when the threshold level is reached or exceeded the current to the motor is stopped. 16 在上述声明中所述的任何系统中，装置包括电动马达驱动轮和一个越控系统，越控系统应能使车轮提供能源的电流达到一个临界水平来保持车轮转动。当临界水平达到或超过时，输到马达的电流就会停止。 |
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