車輛防撞系統(tǒng)外文翻譯

車輛防撞系統(tǒng)外文翻譯Inoneaspectthepresentinventionbroadlyresidesinaself-propelledroboticvehicleresponsivetoaradiofrequencysignalfromatransmittermeansincludingavehicleframemeans;atleasttwospacedapartreceivermeansadaptedtoreceivethesignalfromthetransmittermeans;aprocessoroperativelyassociatedwiththereceivermeans,saidprocessorisprogrammedtoprocessinputfromtheatleasttwospacedapartreceivermeanstolocatethepositionofthetransmittermeansandproduceanelectricalsignalforthevehicletomoverelativetothetransmittermeansinaccordancewiththeprocessorprogramming;anddrivemeanssupportedonthevehicleframemeansandadaptedtoreceiveandactontheelectricalsignalsentfromtheprocessortomovethevehicleinaccordancewiththeprocessorprogramming.一方面，這項發(fā)明主要是用一輛自動推進(jìn)的遙控機(jī)器車輛對一臺發(fā)射裝置發(fā)射的高頻信號進(jìn)行反應(yīng)，這包括一臺車架裝置，至少2臺分開的用于接收來自發(fā)射裝置信號的接收裝置；一臺與接收裝置操作有關(guān)的處理器，這臺處理器將設(shè)計用于處理至少2臺分開的接收裝置的輸入來定位發(fā)射裝置的位置并按照處理器編程設(shè)計發(fā)出電子信號指揮車輛移動到相關(guān)的發(fā)射裝置那里，而用于支持車架及適用接收和反應(yīng)來自處理器電子信號的驅(qū)動裝置將按照處理器編程設(shè)計來移動車輛。Inafurtheraspectthepresentinventionbroadlyresidesinasystemforaselfpropelledroboticvehicleincludingtransmittermeansabletotransmitaradiofrequencysignal;aself-propelledvehicleincludingavehicleframemeans;atleasttwospacedapartreceivermeansadaptedtoreceivethesignalfromthetransmittermeans;aprocessoroperativelyassociatedwiththereceivermeans,saidprocessorisprogrammedtoprocessinputfromtheatleasttwospacedapartreceiverstolocatethepositionofthetransmittermeansandproduceanelectricalsignalforthevehicletomoverelativetothetransmittermeansinaccordancewiththeprocessorprogramming;anddrivemeanssupportedonthevehicleframemeansandadaptedtoreceiveandactontheelectricalsignalsentfromtheprocessortomovethevehicleinaccordancewiththeprocessorprogramming.進(jìn)一步地說，這項發(fā)明主要是講包含有能夠發(fā)射一種高頻信號發(fā)射裝置的一種自動推進(jìn)遙控機(jī)器車輛的系統(tǒng)。一輛自動推進(jìn)遙控機(jī)器車輛包括了一臺車架裝置，至少2臺分開的用于接收來自發(fā)射裝置信號的接收裝置；一臺與接收裝置操作有關(guān)的處理器，這臺處理器將設(shè)計用于處理至少2臺分開的接收裝置的輸入來定位發(fā)射裝置的位置并按照處理器編程設(shè)計發(fā)出電子信號指揮車輛移動到相關(guān)的發(fā)射裝置那里，而用于支持車架及適用接收和反應(yīng)來自處理器電子信號的驅(qū)動裝置將按照處理器編程設(shè)計來移動車輛。Thereceivermeanspreferablyincludestwospacedapartantennaswitheachoperativelylinkedtoareceiver.ThereceiversarepreferablySuperHeterodynetypeorNearZeroIFtype.Theantennasarepreferablyspacedapartatadistancefromeachother.Morepreferably,theantennasare25cmormorespacedapartfromeachother.接收裝置最好包括2根分開的天線，每根都分別能夠與一臺接收器連接。接收器最好是超外差接收器或是零中頻接收器。天線與天線之間最好有一定的間隔距離。最好的距離是25厘米或者更遠(yuǎn)。Thetwospacedapartantennasarepreferablyoperativelyconnectedtoenabletheprocessortoprocessthesignalinputstodeterminethelocationofthetransmitter.Thereceivingantennasarepreferablyarrangedwithoneantennapeaktunedandtheotherisdiptunedsothattheyare90degreesoutofphase.TheprocessorpreferablycancombinethetwosignalsforasummedRSSIreadingandmeasureaphaseshifttodeterminethepositionofthetransmittermeans.兩根分開的天線最好有效的連接使處理器能處理輸入的信號來確定發(fā)射器的位置。接收的天線最好將一根調(diào)整到最高，一根調(diào)低，這樣2根天線就能保持90度的相反方向。處理器最好能結(jié)合2個信號的接收信號強(qiáng)度指示器（RSSI）讀數(shù)以及測量相位移來確定發(fā)射裝置的位置。Preferablytheantennashaveresonatorcoilsthatenablethemtobedynamicallytuned.Withtuningtheantenna,thepredefinedfrequencyispreferablysetbyvaryingthecapacitanceofthecoilbythevoltagetopeaktunetheantennatothedefinedfrequency.最好天線能有共振器線圈能讓2根天線進(jìn)行動態(tài)調(diào)整。調(diào)整天線時，預(yù)定義的頻率最好由變動的線圈電容和電壓來設(shè)定天線調(diào)整到定義的頻率。Thetransmittermeansispreferablyatransponderthattransmitsasignalbutnotreceiveasignal.Thetransmittermeansispreferablyportable.Alternatelytransmittermeansmaybeatransponderwhichisactivatedonreceivingaradiofrequencysignalfromthevehicleandtransmitsalocationsignalbacktothevehicle.Preferablythetransponderiswearableandhasafrequencybetween200Khzto8Ghertz.Morepreferablythetransponderhasafrequencybetween300Khzand500Khz.發(fā)射裝置最好是發(fā)射信號而不是接收信號的轉(zhuǎn)發(fā)器。發(fā)射裝置最好是便攜式的。代替的發(fā)射裝置可以是一臺轉(zhuǎn)發(fā)器來激活接收來自車輛的高頻信號并且返回傳送一個定位信號給車輛。最好轉(zhuǎn)發(fā)器可以配戴，且其頻率在200Khz和8Ghertz之間。最為理想的是轉(zhuǎn)發(fā)器的頻率在200Khz和8Ghertz之間。Thetransponderpreferablyhasapluralityofcapacitorssothatthetransponderantennacanbedynamicallytunedandshiftedin5KHzincrementstoform5KHzchannels.Thesignaliscarriermodulatedbyfrequencyshiftkeying(FSK)wherethekeyingrateis300Htzandthefrequencyshiftis+/-1Khzeithersideofthecarrierforminga300Htztone.轉(zhuǎn)發(fā)器最好有多個電容能使轉(zhuǎn)發(fā)器天線被動態(tài)調(diào)整轉(zhuǎn)到5KHz的增量來形成5KHz的頻道。信號是由鍵控率為300Htz的頻移鍵控調(diào)節(jié)以及移頻為+/-1Khz的載波器，載波器的每面都會形成300Htz的音調(diào)。Theradiofrequencysignalispreferablyasuitablefrequencytoenableidentificationofthevehicleandactivationofthevehicletomoveinaccordancewiththeprocessorprogramming.Theradiofrequencysignalsarepreferablyarrangedinchannels.Thesignalprocessingispreferablyabletoidentifyseparatetransmitterchannelsandnegateanyadjacentchannelinterference.高頻信號最好是能按照處理器編程設(shè)計識別車輛和驅(qū)動車輛移動的適當(dāng)頻率。高頻信號最好能設(shè)定在頻道內(nèi)。信號處理最好能識別不同的發(fā)射器頻道并否定所有相鄰頻道的干擾。Withinthedefinedrangeoftheradiofrequencysignals,thenumberofvehiclesrespondingtotransponderspecificsignalswithinanareamaybeincreasedbyoneormoremethodsincludingrandomtransmissioncycleforthetransponderswherethetransmissionsarecodedsothattheycanbedecodedandusedbythecorrespondingvehicle.AlternatelythefrequencyfromthetranspondermaybemodulatedataFSKkeyingrateof500Htzwith+/-1Khzfrequencyshiftsothatthereceiverscanidentifytheircorrespondingtransponder.Furthermorethetransponderpreferablyhasarandomnumbergeneratorwhichisusedtotriggertransmittimesothattransmissionsarenotsynchronizedtoavoidthesituationwheremultiplesimultaneoustransmissionsarereceivedbyareceiver.在高頻信號定義的范圍內(nèi)，一個區(qū)域內(nèi)對轉(zhuǎn)發(fā)器特定信號有反應(yīng)的車輛數(shù)量可以通過一種或多種方法增加，包括轉(zhuǎn)發(fā)器的任意傳遞周期，這些傳遞能夠被編碼并被解碼用于相應(yīng)的車輛。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+/-1Khz時可以被調(diào)節(jié)讓接收器識別其對應(yīng)的轉(zhuǎn)發(fā)器。而且轉(zhuǎn)發(fā)器最好能有一個隨意的數(shù)碼產(chǎn)生器用來觸發(fā)傳送時間讓傳送不能同步進(jìn)行以避免一個接收器同時接收多重傳送。Thedrivemeanspreferablyincludesamotorwithareductiongearboxandapluralityofwheelsoperativelyconnectedtothemotor.Thepluralityofwheelspreferablyincludesatleastonewheeldrivenbythemotor.Inonepreferredform,thevehiclehasthreewheelswithtworearwheelsdrivenbythemotor.Preferablythereisamotorassociatedwitheachoftherearwheels.Alternatively,thereisasinglemotorhavingadifferentialgearingtodrivebothwheels.Inapreferredembodimentthefrontwheelcansteerthevehicleinaccordancewiththeprocessorprogramming.驅(qū)動裝置最好包括一個有減速齒輪箱的馬達(dá)及與馬達(dá)建立有效連接的多個輪子。這幾個輪子最好至少有一個輪子由馬達(dá)驅(qū)動。比較理想的形式是，車輛有3個輪子，2個后輪由馬達(dá)驅(qū)動。最好有一個馬達(dá)與每個后輪都連接。替換的方式就是一個單一的馬達(dá)有一個差動齒輪裝置來驅(qū)動2個輪子。一種理想的方式就是前輪能驅(qū)動車輛按照處理器編程設(shè)計行駛。Thevehicleframemeanspreferablyincludesaframebodyandchassis.Thevehiclemaybeanysuitablevehicleincludingagolfcaddy,transportvehicleorcart,roboticpalletandroboticassistant.Thevehiclepreferablyhasamanualoperationsystemwhereitdoesnotrespondtoradiofrequencysignalsandthegearsandautomaticbrakingsystemarepreferablydisengaged.Inthemanualmode,thevehiclecanbepushedorpulledbyaplayeroralternativelybetowedbyanothervehicle.車架裝置最好是有一個架身和底盤。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。車輛最好有一個手動裝置能對高頻信號不做出反應(yīng)并且齒輪和剎車系統(tǒng)最好是沒有捆綁的。在手動模式中，車輛可以由高爾夫球員推或拉或者是由另一輛車拖動。Thevehiclepreferablyhasacollisionavoidancesystemthatenablesthevehicletoavoidorstopbeforeitcontactsanobject.Thevehiclepreferablyhasacollisionavoidancesystemthathasapluralityofinfraredrangingtransceiversspacedaboutthevehicle.Thecollisionavoidancesystempreferablyincludesinfraredchargecoupleddevice(CCD)rangesensorslocatedaboutthevehicleandcapableofdetectingobjectsbetween0.01and5metersandmorepreferablyupto1.6metersfromthesensor.Thecollisionavoidancesystempreferablyhasguardbandsthatprovideanouterboundaryandaninnerboundaryaboutthevehicle.Preferablyanalarmandorresponseinaccordancewiththeprocessorprogrammingisactuatedwhenanobjectenterstheouterorinnerboundaries.Theouterboundaryispreferablysetbetween1and2metersandmorepreferably1.2metersfromthevehicle.Theinnerboundaryispreferablysetbetween0.01and1metersandmorepreferably0.3metersforthefrontofthevehicleand0.08metersforthesidesofthevehicle.PreferablytherearerulesformingpartoftheprocessorprogrammingthatdirecttheoperationofthevehiclewhenanobjectisdetectedbytheinfraredCCDsensors.Thevehiclemayalsoincludeasatellitenavigationsystemtoassistincontrollingthemovementofthevehicleinadefinedarea.車輛最好能有防撞系統(tǒng)能防止車輛碰到異物或是在碰到之前就能停下來。車輛的防撞系統(tǒng)最好能有多個紅外線遠(yuǎn)程收發(fā)器。防撞系統(tǒng)應(yīng)包括紅外電荷耦合組件距離傳感器來定位車輛及探測距離傳感器0.01到5米，最好能到達(dá)1.6米。防撞裝置最好有防撞頻帶，為車輛提供一個內(nèi)頻帶和一個外頻帶。最好當(dāng)異物進(jìn)入內(nèi)頻帶或外頻帶時，符合編程設(shè)計的警報和或反饋能啟動。通常外頻最好設(shè)定在1米和2米之間，1.2米是比較理想的距離。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。最好是編程設(shè)計時涵蓋當(dāng)紅外電荷耦合組件傳感器探測到異物時指導(dǎo)車輛運(yùn)行的程序。車輛也可以配置一個衛(wèi)星導(dǎo)航系統(tǒng)在定義的區(qū)域內(nèi)來協(xié)助控制車輛的移動。Thesystempreferablyhasthecapabilityofrecordingtheoperationaltimeofthevehicle.Preferablythevehiclecanalertaremotemonitoringsystemwhethertheoperationaltimeisapproachingitsallocatedtime.Preferablyallusageofthevehicleisrecorded.系統(tǒng)最好能夠記錄車輛的運(yùn)行時間。最好車輛能通知遠(yuǎn)程監(jiān)控系統(tǒng)是否運(yùn)行時間正在接近指定的時間。最好所有車輛的使用都有記錄。Thevehiclepreferablyhasanoverridesystemwheretheelectricalcurrentpoweringthewheelsincreasesuptoathresholdleveltokeepthewheelsturning.Whenthethresholdlevelisreachedorexceededthecurrenttothemotorispreferablystopped.Theoverridesystemispreferablyactivatedwhenthevehiclemovesupaverysteepslope,whenthereistoomuchweightonthevehicleandwhenoneormorewheelslosetraction.車輛最好能有一個越控系統(tǒng)讓為車輪提供能源的電流達(dá)到一個臨界水平來保持車輪轉(zhuǎn)動。當(dāng)臨界水平達(dá)到或超過時，輸?shù)今R達(dá)的電流最好能停止。當(dāng)車輛爬行一個非常陡的陡坡或車輛太重以及一個或多個車輪失去牽引力時越控系統(tǒng)最好能激活。Inanotherembodimentthevehiclemayhaveaweightsensorthatdetectswhethertheweightofthevehicleisoverapredeterminedlimitandifsothevehiclestops.另一種方法就是車輛配置重量感應(yīng)器，來感應(yīng)車輛載重是否超過了預(yù)先確定的極限，如果超過了，車輛就會停止。Inanotherembodimentthevehiclemayhavealateralsensortodetectsidewaystippingmovementofthevehicle.另一種方法就是車輛配置側(cè)邊感應(yīng)器來探測車輛的側(cè)邊傾翻運(yùn)動。Inanotherembodimentthevehiclemayhaveagradientsensorthatisabletosensetheinclineofagradientandifoverapredeterminedlimit,theprocessorwillpreventthevehiclefromcontinuingmovementintheinclineddirection.另一種方法就是車輛配備傾斜感應(yīng)器，在有傾斜可能以及超過預(yù)先確定限制時進(jìn)行感應(yīng)，處理器會防止車輛在傾斜方向的繼續(xù)移動。BRIEFDESCRIPTIONOFTHEDRAWINGS圖紙簡要描述Inorderthatthepresentinventioncanbemorereadilyunderstoodandputintopracticaleffect,referencewillnowbemadetotheaccompanyingdrawingswherein:為了更好的理解本項發(fā)明并能付諸實踐，以下是關(guān)于圖紙的參考資料：Figure1isaphotographofaroboticgolfcaddyofthepreferredembodimentoftheinvention;圖1是本項發(fā)明遙控機(jī)器球包車較好的表現(xiàn)圖片；Figure2isadiagrammaticviewoftheoperationalcomponentsoftheroboticgolfcaddy;Figure3isadiagramofdecisionswithrespecttothecollisionavoidancesystem;圖2是遙控機(jī)器球包車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；Figure4isanotherdiagramofdecisionswithrespecttothecollisionavoidancesystem;圖4是有關(guān)防撞系統(tǒng)結(jié)果的另一份圖解；Figure5isanotherdiagramofdecisionswithrespecttothecollisionavoidancesystem;Figure6isanotherdiagramofdecisionswithrespecttothecollisionavoidancesystem;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；Figure7isanotherdiagramofdecisionswithrespecttothecollisionavoidancesystem;andFigure8isanotherdiagramofdecisionswithrespecttothecollisionavoidancesystem.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；DETAILEDDESCRIPTIONOFTHEPREFERREDEMBODIMENT理想狀態(tài)的詳細(xì)描述Thedetaileddescriptionofthepreferredembodimentreferstoaroboticgolfcaddy.WithreferencetoFigure1,thereisshownaroboticthreewheeledvehiclebeingagolfcaddy10thatoperatesinavarietyofmodescontrolledbyaremotetransceiverunit(RTU).Theremotetransceiverunitisworn(suchasonabelt)orcarriedbytheplayer.理想狀態(tài)的詳細(xì)描述指的是遙控機(jī)器球包車。參照圖1，展示的是一輛遙控機(jī)器三輪車，也就是球包車10,這輛車由一個遠(yuǎn)程收發(fā)器單元控制有多種模式。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。Theroboticgolfcaddy10cantransportafullsetgolfbagandalltheusualgolfingaccessorieswhilstfollowingtheplayerwiththerespectivetransponderovertheprimaryareasofagolfcourse(thatisfairwaysandgreentoteewalkways).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在高爾夫球場主要區(qū)域(也就是平坦球道和開發(fā)球區(qū))按照相關(guān)轉(zhuǎn)發(fā)器追隨高爾夫球員。Thecaddyiselectronicallycontrolledtobeselfmanagingwithregardtothefollowfunctionandproceed-no-furtherfunctionwhentheplayerentersaninappropriateareaforthecaddy.Thecaddyelectronicsystemhastwospacedapartantennas11,directionsfindingsystem,distancedeterminationsystem,vehiclehostcontroller,collisionavoidancesystem,drivecontrolsystem,batteryandpowersupply,cableconnectionandexternalbatterycharger.Thecaddymechanicalsystemhasavehicleframe12,selfsteeringfrontwheelassembly13,rearwheelassembly14,rearwheelgearboxassembliesandrearwheeldrivemotors15,vehiclebody16andbatteryhousing.球包車是電子控制，具有以下功能并且自我管理，當(dāng)高爾夫球員進(jìn)入一個球包車不適宜區(qū)域時，球包車將不再繼續(xù)運(yùn)行。球包車電子系統(tǒng)有2根分開的天線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。球包車機(jī)械系統(tǒng)有一個車架12，自動駕駛前輪組件13,后輪組件14,后輪齒輪盒組件和后輪驅(qū)動馬達(dá)15,車身16和電池筒。Theremotetransceiverunithasahousingandbeltclip,radiotransceiver,lithiumionbattery,batterychargerandantennasystem.遠(yuǎn)程收發(fā)器單元有一個外套和皮帶扣，無線電收發(fā)器，鋰電池，充電器和天線系統(tǒng)。TheremotetransceiverunitmasschargingunithasahousingforpluggingineightRTUbatteries,ACmainspowersupplyandDCchargingunit.遠(yuǎn)程收發(fā)器單元大量充電裝置有一個外套供插入8個遠(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。ThekeyfunctionalityoftheRTUisthatitprovidesanRFtransmittinglocationsourcefortheCaddyreceiverelectronicsandlocationsystem.Assuchitskeyfunctionistotransmitanidentifiablebeaconsignalthathasapreciseandconsistentfrequencythatisuniquelycodedaswell,sothatitisidentifiableonlybyitsrespectiveCaddy.Theunithousingispurposedesignedtoallowforbestformfitanduseandwillhavethefollowingcontrolsintegratedontoasingleprintedcircuitboardhousedinternally:powerswitch(includingrangeswitch);followmemodeandOn/offswitch.遠(yuǎn)程收發(fā)器單元的主要功能是其為球包車接收器電子和定位系統(tǒng)提供了一個高頻傳送定位源。因為其主要功能是傳送可識別的無線電臺信號且有一個精確和連貫的頻率也被編碼，所以只有相關(guān)的球包車能夠識別。遠(yuǎn)程收發(fā)器的外套設(shè)計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單一的內(nèi)置的印制回路板上：電源開關(guān)（包括距離轉(zhuǎn)換開關(guān)）；跟屁蟲模式和開/關(guān)按鈕。Thepowerswitchhasalatchingswitchthatrequirespositiveanddeterminedactiontochangestate.Thepowerswitchwillcausetheinternalelectronicstopoweron.ThepowerswitchisintegralwithrangeswitchandcausestheRTUelectronicstoadjustthepoweroutputoftheRFtransmitter.ThefollowmemodeswitchwillcausetheinternalelectronicstoactivatetheRFtransmissionofbeacon.電源開關(guān)有一個關(guān)閉按鈕要求正面和確定的行動來改變狀態(tài)。電源開關(guān)與距離轉(zhuǎn)換開關(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。跟屁蟲模式開關(guān)會引起內(nèi)部電子啟動無線電臺的高頻傳送。Thepowerswitchhas4positionswherethepowerisadjustedinlinearrangeincrementsfrompositiontopositioninordertoachieveanoperatingrangeof1.5metersto4meters.ThedevicehasoneLedmountedthatarereadilyvisibletothewearerandthatindicatewhenlit:poweron;followmemodeon;andlowbattery.TheRTUhasreplaceable2AAsizealkalineorNickelmetalhydridebatterywithacapacityof2800mahours.Itwillhaveanexternalchargercircuitcapableofrechargingthe2800mahNiMhbatteryfromdischargetofullchargewithin6hoursmaximum.電源開關(guān)有4個點，為了達(dá)到1.5米到4米的運(yùn)行范圍電源在線性范圍增加的點到點之間調(diào)整。設(shè)備有一個主要安裝部分，在指示燈亮?xí)r佩戴者能清晰看見：通電，跟屁蟲模式以及電量低。遠(yuǎn)程收發(fā)器有可替換的2AA號堿或鎳氫電池，能使用2800ma小時。其外部充電器回路從無電到再次充滿2800mah的鎳氫電池最長僅需6小時。ThecaddyandRTUwillnowbefurtherdescribedwithreferencetoFigures2to8.球包車和遠(yuǎn)程收發(fā)單元會在圖2到圖8中進(jìn)行進(jìn)一步的描述；OperationalDescriptionoftheCaddy球包車的操作描述TheCaddyhasseveraloperatingmodesintermsofmovementwhichareactivatedbyakeyswitch.Thepositionsofthekeyswitchincludeon,offandparking.球包車移動的幾個操作模式由一個主開關(guān)啟動。主開關(guān)的位置包括：開，關(guān)和停。Whileinanypoweronmode,thehostsystemwillrecordoperatinghoursofthecaddy.在所有開啟模式時，主機(jī)系統(tǒng)將記錄球包車的運(yùn)行時間。FollowMeMode跟屁蟲模式Thereisaseparatefollowmeswitchwhichiseitheronoroff.Thismodeofoperationistheprimarymodeforuseofthevehicle.ThegolfcaddyiscontrolledbytherespectiveRTUasbothentitiesarekeyedwiththesameradiofrequency.WhentheRTUmovesawayfromthecaddy,theelectronicssystemdeterminesthedirectionandrateatwhichtheRTUismovingandwillcontrolthedrivemechanismtotherearwheelsetandtheirrespectivemotordrivessuchthatthevehiclewillfollowtheRTUatarateanddirectionequivalenttotheRTU'smovement.ThecontrolsystemwillensurethatapredetermineddistancewillalwaysbemaintainedbetweenthecaddyandtheRTUwhentheRTUisactivated.跟屁蟲模式要么開著或者關(guān)著。這個模式的操作是使用車輛的主要模式。球包車是由相關(guān)的遠(yuǎn)程收發(fā)器單元控制，因為2個實體都會鍵入同樣的無線電頻率。當(dāng)遠(yuǎn)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(yuǎn)程收發(fā)器移動及控制后輪的驅(qū)動機(jī)械及相關(guān)馬達(dá)驅(qū)動，這樣車輛就會以一定的速度跟隨遠(yuǎn)程收發(fā)器并按照遠(yuǎn)程收發(fā)器的方向移動。當(dāng)遠(yuǎn)程收發(fā)器單元啟動時，控制系統(tǒng)會確保球包車和遠(yuǎn)程收發(fā)器之間預(yù)先確定的距離總會被保持。Thismodeofoperationwillworkinconjunctionwiththecollisionavoidancesystem(andwhereapplicablesatellitenavigationoutofboundssystem).Thesesystemswillprovideanindicationastowhetherthefollowmemodeisenabledordisabled.Forexample,iftheplayerwiththeRTUmovestoapositionwherethecaddyinfollowmemodewouldcollidewithanobjectormoveinanoutofboundswithrespecttotheprocessorprogramming,thenfollowmemodewouldbedisabledandmovementstopped.Inordertore-enablefollowmemode,theplayermustmovetoapositionthatthecaddycanproceedtowithoutbreachingsetnavigationalrulesandprocessorprogramming.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)。這些系統(tǒng)會提供顯示表明跟屁蟲模式正在運(yùn)轉(zhuǎn)還是停止?fàn)顟B(tài)。例如，如果佩戴遠(yuǎn)程收發(fā)器單元的高爾夫球員運(yùn)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(yùn)轉(zhuǎn)。為了重新啟動跟屁蟲模式，高爾夫球員必須移動到一個球包車不與設(shè)定的導(dǎo)航規(guī)則及處理器編程設(shè)計沖突且能繼續(xù)運(yùn)轉(zhuǎn)的位置。Followmemodeisdisabledbyturningtheswitchtotheoffposition.把開關(guān)調(diào)到關(guān)閉位置時，跟屁蟲模式就停止運(yùn)轉(zhuǎn)了ParkingMode停車模式ParkingmodeisamodeofoperationthatallowsgolfcoursepersonneltomanipulatethevehiclewithouttheuseoftherespectiveRTU.Theparkingmodeisenabledbyasecuritykeyandwillcausetheon-boardelectronicsystemstoputthedrivemechanismintofreewheelmodesuchthattheunitcanbemanuallymanoeuveredtoarequiredparkingposition.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(yuǎn)程收發(fā)器單元時操作車輛。停車模式由一把安全鑰匙啟動會引起車上的電子系統(tǒng)將驅(qū)動機(jī)械調(diào)到自由輪模式。這樣這樣單元就能被手動調(diào)節(jié)到所需的停車位置。ParkedMode已停車模式Parkedmodeoccurswhenoffisselectedonthekeyswitch.Parkedmodeenablesgolfcoursepersonneltolockthevehicleinaparkedpositionsothatthedrivingwheelsarelockedandthevehicleisdisabledfrommovement.當(dāng)主開關(guān)上選擇關(guān)閉狀態(tài)時，就可以使用已停車模式。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。1ABatteryChargeMode充電模式Thebatterychargemodeoccursintheoffpositionofthekeyswitchandallowsrechargingoftheprimarybatterythroughaconnectiontoanexternalpowersource.Inthepreferredembodimentthevehicleautomaticallyentersparkedmodewhenachargingcableisconnectedandwillremaininthismodeuntiltheexternalconnectionisdisconnected.Thevehiclewillautomaticallyenterparkedmodewhenthechargingcableisconnectedirrespectiveofwhetheranothermodeofoperationhasbeenselected.當(dāng)主開關(guān)處于關(guān)閉狀態(tài)時，就可以使用充電模式。可以通過連接外部電源對主要的電池進(jìn)行充電。在理想狀態(tài)時，當(dāng)充電電線連接時，車輛會自動進(jìn)入已停車模式，在外部連接電線斷開之前，車輛會一直保持這種狀態(tài)。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(jìn)入停車模式。1.5ReverseModeThereversemodeisamodeofoperationthatenabledthecaddytoreversewithneutralsteering.Reversemodeisactivatedwithaswitchonthecaddy.反向模式是一種操作模式，在空檔駕駛時能讓車輛反向。反向模式由車輛上的一個開關(guān)啟動。OperationalDescriptionoftheRTU遠(yuǎn)程收發(fā)器單元的操作描述TheRTUisatransceiverunitthatwhenpoweredandactivatedwilltransmitauniquesignalthatthecorrespondingcaddyrecognizesandlocksonto.TheoperatingrangeoftheRTUdependsonthefrequencythatistransmittedbythecaddy.TheoperatingdistanceofthecaddyfromtheRTUwillalsodependonhowtheRTUiswornorcarriedbytheplayer.ThemaximumdistanceforoperationofthecaddyfromtheRTUisfourmetersandtheminimumdistanceis1meter.WhenaplayerwiththeRTUwalkstowardsandthenpasttherespectivecaddythecaddywillrotateandfollowtheplayerwithinthepredetermineddistancerange.ThefollowmedistanceisadjustableontheRTU.遠(yuǎn)程收發(fā)器單元就是一種收發(fā)器單元在有動力并啟動時會傳送特別的信號讓相對應(yīng)的車輛進(jìn)行識別和定位跟蹤。車輛和遠(yuǎn)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(yuǎn)程收發(fā)器單元。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。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。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。TheRTUhasthefollowingfunctions:poweron/off;andfollowmeon/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)。TheRTUisaportabletransceiversystemthatwhenactivatedtransmitstherequisitesignalstoallowthecaddytransceiverandlocationsystemtodeterminethelocationoftheRTUandhenceplayer.TheRTUispoweredbyaninternalbatterywhichisreplaceableandisrechargeablefromaseparatechargerunit.遠(yuǎn)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。遠(yuǎn)程收發(fā)器單元由一個內(nèi)部電池提供電源，此電池可以更換也可以通過單獨(dú)的充電單元充電。OperationDescriptionoftheCaddy球包車操作描述Thecaddyhasthefollowingfunctionselections:poweron/off/parkingkeyswitch);followmemodeswitchon/off;reversemodeswitchon/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)。3.01CaddyAntennasystemandReceiver(CAR)球包車天線系統(tǒng)和接收器(CAR)Thecaddyreceiverincludesadualantennasystemanddualrecievers.Thereceiverprovidesanaloguedatatotheprocessor(locationsystem)forprocessingthecurrentlocationoftheRTU.球包車接收器包括雙重天線系統(tǒng)和雙重收發(fā)器。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(yuǎn)程收發(fā)器單元的當(dāng)前位置。TheCaddyantennasystemcomprisesanantennaarraythatfunctionsasaninphaseswitcheddualantennaarray.Thedualantennaarrayprovidestwoseparateantennafeedstothetwoseparatereceivers.ThequadratureoutputsofthetworeciversarecomparedwithaphasecomparatorcircuittodeterminephasechangeandhenceazimuthofthereceivedRTUsignal.TheCLSsystemiscalibratedformidpositionphasecomparatorsignalandprovidesvariationleftorrighttothemainprocessor.WhentheantennasystemispointingdirectlyatthereceivedsignalsourcethereshallbenophasedifferenceandhencenotoneorNullstate.球包車的天線系統(tǒng)會組成一個天線陣列，此天線陣列會作為同相交換雙天線陣列運(yùn)行。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。2個接收器的正交輸出會與相位比較器線路比較來確定相位改變和接收到的遠(yuǎn)程接收器單元信號的方位角。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。當(dāng)天線系統(tǒng)直接指向接收信號源時，就不會再有相位差異，因此處于零狀態(tài)。ThereceivermaybeaconventionalSuperHeterodynetypeormaybeaNearZeroIFtype.Thereceiversensitivityallowsittodifferentiateanincomingwantedreceivesignalonitsselectedchannelofoperationdowntoalevelof-90DbmforasignaltransmittedbytheRTUatadistanceof4metersfromtheRTU.ThereceiverprovidesanaccurateRSSIanaloguelevelproportionaltothelevelofthereceivedsignalwithsuchsignallevelbeingtheaggregateoftwomeasurementsmadefrombothantennaewithinatimeframeof20[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。距離遠(yuǎn)程接收器單元4米的收發(fā)器的敏感度會在操作選擇的頻道上對遠(yuǎn)程收發(fā)器單元傳送的信息區(qū)分進(jìn)入的需要接收信號到-90Dbm水平。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20U秒的時間范圍內(nèi)，2根天線的測量總計。TheRTUtransmitsanarrowbandsignalonagivenchannel.Thereceivingantennasaresetupwithoneantennapeaktunedwhiletheotherisdiptuned.Theantennasoperate90degreesoutofphase.Asaresultthereisadiminutioninreceivedsignalstrengthfromoneantenna.Thefeedercoilononeantennaiscrosscoupledtotheotherantennaandviceversasotheyarebalanced.遠(yuǎn)程收發(fā)器單元在一個給定的頻道上傳送窄帶信號。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。結(jié)果就是從一根天線接收到的信號強(qiáng)度會減弱。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。Theantennasignalsarefedtoseparatereceivers.ThesignalsarecombinedforasummedRSSIreadingandoutputfromeachreceiverisalsofeedintoaphasecomparatorcircuitwhichcomparesthephaseofthetwosignals.Theresultofthecomparisonisarangeofout-of-phasemeasurementsdependentontheRTUmovement.Ananaloguesignaldependentonthephaseshiftisthengenerated.天線的信號會傳到分開的接收器。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。比較的結(jié)果是根據(jù)遠(yuǎn)程收發(fā)器單元移動的一系列異相測量。然后會生成基于相位移的模擬信號。ThissignalissenttotheprocessortocalculatetheangleoftheRTUrelativetothecentrebetweentheantennas.發(fā)射到處理器的信號會計算遠(yuǎn)程收發(fā)器單元與相關(guān)天線之間中心的角度。3.02CaddyLocationsystem(CLS)球包車定位系統(tǒng)Thelocationsystemacceptsanaloguedatafromthecaddyreceiverwhichitprocessesonacontinuousbasissoastobeabletoprovideangularanddistancelocationdataindigitalformtothesystemhostcontroller.Thesignalsarepreprocessed(PLDprocessing)toprovidethesystemhostcontrollerwithanoperationalstate.Ifthepreprocessedsignalsindicatethatthecaddyisoutsidethedesireddistance,thentheprocessorreceivesadefaulterrorsignaltherebyinitiatingaresponsebythecaddytorepositionitselftoitsdesireddistance.定位系統(tǒng)接受來自球包車收發(fā)器的模擬信號，進(jìn)行持續(xù)處理后便能以電子形式向系統(tǒng)主機(jī)控制器提供角度和距離的定位數(shù)據(jù)。信號處理后提供給系統(tǒng)主機(jī)控制器的是一種運(yùn)行狀態(tài)。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。ThelocationsystemhasaseparatelogicalfunctionthatwilltakeanaloguedatafromtheCARsystemintermsoftone/phaseandRSSIandconvertittopositionaldataandsenditonacontinuouschangebasistothecaddyhostcontrolsystem(CHC)viaathreewireserialbus.Intheeventthattheanaloguedataisnotchanging,thatistheRTUisnotturnedonoroutofrangethentheCLSwillsendanRTUOfforoutofrangeheartbeattotheCHC.ShouldtheRSSIanaloguedatalevelriseaboveasetmaximumfor1meterthenCLSwillindicatetotheCHCthatagolferwithRTUenabledispresentandhasapproachedtheCaddywithintheminimumoperatingdistanceof1.5metersfromantennas.定位系統(tǒng)有一個單獨(dú)的邏輯功能，會將來自CAR系統(tǒng)的聲音信號/相位和RSSI的模擬信號轉(zhuǎn)化成位置數(shù)據(jù)并在不斷變動的基礎(chǔ)上通過三線系列汽車傳給球包車主機(jī)控制系統(tǒng)。在此過程中，模擬數(shù)據(jù)不會改變，遠(yuǎn)程收發(fā)器單元沒有打開或在范圍之外時，CLS會發(fā)出遠(yuǎn)程收發(fā)器關(guān)閉或范圍之外的律動給球包車主機(jī)控制系統(tǒng)。RSSI模擬數(shù)據(jù)水平升高超過預(yù)定的最高值1米時，CLS會向球包車主機(jī)控制系統(tǒng)提示攜帶遠(yuǎn)程收發(fā)器單元的高爾夫球員在場且其正在接近球包車在距天線最低操作距離1.5米內(nèi)。3.03Collisiondetectionsystem,碰撞探測系統(tǒng)Therequirementofthecollisionsystemisforthecaddytoturnoffbeforecontactwithasolidobject.這個碰撞系統(tǒng)要求在碰上硬物前球包車能繞開硬物。3.04Collisionavoidancesystem防撞系統(tǒng)Thecollisionavoidancesystemdeterminesifanyobjectofsufficientmassisinthepathofthevehiclewithinaspecifiedminimumdistanceandinformsthehostcontrollerintheeventthatthisoccurs.Thehostcontrollerwillapplybrakingtothemotionsystemsuchthatthecaddywillceasemotionpriortoacollisionandthatanindicationisgiventotheplayerastowhytheunithasstopped.防撞系統(tǒng)會確定在一個確定的最低距離內(nèi)車輛的道路上是否會有任何足夠大的物體，一旦出現(xiàn)就會通知主機(jī)控制器。主機(jī)控制器會在移動系統(tǒng)中運(yùn)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。ThekeyfunctionoftheCollisionavoidancesystemistoascertainwhenthevehicleisinmotionormotionisintendedifanyobjectisintheintendedpathoftravelatadistanceof1meterorless.Thedetectionprocessisperformedbyuseofinfrared(IR)CCD(chargecoupleddevice)sensorswhichtransmitanarrowbeamwidthofIRwavelengthlightwithaCCDsensorthatlooksatanyreflectionsofitsownsignalbeingreturned.Fromtheangleatwhichitisreturnedthesensorisabletodeterminethedistancefromthesensorofthereflectingobject.Thesensorprovidesanoutputthatisananaloguevoltagerepresentationofmeasureddistance.Tensensorsarepositionedaroundthecaddyandcandetectanythingoutto1.6metersfromthesensor.Thereisanouterbandaroundtheforwardmotionsectionofthecaddyof1.2metersandaninnerboundaryof0.3meters.Thesidesensorsaresetwithaninnerboundaryof0.08meters.防撞系統(tǒng)的主要功能是確定車輛正在移動或如果在車輛計劃通過的路上1米或不到1米的距離時存在任何異物時打算移動。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。從返回的角度，感應(yīng)器就能通過引起反射物體的距離。感應(yīng)器提供的輸出是測量距離的模擬電壓表示。球包車周圍會裝置10個感應(yīng)器，并能感應(yīng)距感應(yīng)器1.6米之間的所有物體。球包車向前移動的外圈為1.2米，內(nèi)部界限為0.3米。感應(yīng)器側(cè)邊的內(nèi)部界限為0.08米。TheconfigurationoftheIRCCDarraycandetectanythinginfieldofviewtotheleft,forwardorright.Forwardmotionisconditionedonwhatthearrayhasdetectedandinfluencedbythesetrulesdefinedintheprogramming.ForexamplewecannegatethecaddyfromturningintoanobjecteveniftheobjectisbetweentheRTUandthecaddy.Inthesituationwherethegolferwalkspastanobjectandturnssharplyleft,thecaddywillcontinueforwarduntiltheobjectisclearedbeforeallowingthelefthandturn.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。前方移動主要取決于陣列的探測內(nèi)容以及編程設(shè)計定義的規(guī)則的影響。例如，即使異物在遠(yuǎn)程收發(fā)器和球包車之間，我們也能防止球包車撞上異物。在此情形中，高爾夫球員跨過一個異物且突然左轉(zhuǎn)，球包車會繼續(xù)前進(jìn)直到在左轉(zhuǎn)之前異物被清除。ThedeviceswillnotarbitratefunctionbutmerelyreporttotheCaddyHostControlsystemifanyobjectexistswithinadeterminedperimeterofeachoftheinfraredCDDfieldofview.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(yùn)行而是僅僅向球包車主機(jī)控制系統(tǒng)報告。ThecontrolsystemthatcommandsmotionasaresponsetoFollowmemodeconstantlytakesintoconsiderationthestateofallzoneinputs.ThefollowmefunctionisanenabledcontrolloopthatisrespondingtochangesofdataprovidedfromtheLocationsystemwhichisofitselfanotherconstantlyoperatingloopthatiscalculatingthelocationofitsdesignatedRTUandissettinganerrorinbothrangeandazimuthrelativetoazeroposition.TheZeropositionbeingthedesireddistance(2-4Meters)andbearing(0degrees).Thesecontrolloopsareoperatingatarateexceeding500iterationspersecond.TheFollowmecontrolloopissuescommandstotheMotioncontrollersuchthatthevehiclewillmovesothattheLocationsystemreturnsaZeropositionforrangeandbearing.操控運(yùn)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)。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)是另一個不斷運(yùn)行的回路系統(tǒng)，用于計算指定的遠(yuǎn)程收發(fā)器的位置，確定相對于起始位置距離及方位上的誤差。起始位置或零位是理想的距離(2-4米)和方位（0度）。這些控制回路系統(tǒng)以每秒500次的迭代速度運(yùn)行。跟屁蟲控制回路向運(yùn)動控制器發(fā)出命令，使得車輛運(yùn)行，以使定位系統(tǒng)返回到零位置的距離和方位。ThecollisionavoidancedataisfedtotheFollowmecontrollooponacontinuingbasissothatalldecisionstoissuemotioncommandstakethezonestatusintoeffect.Forexample,iftheFrontouterzoneisbreachedbutthefrontinnerzoneisnotandbothleftandrightzonesareclearthentheCaddyisallowedtorotaterightorleftbutnotproceedforward.IfthelocationsystemindicatesarangeerrorrequiringforwardmovementthentheCaddywillnotmoveandacollisioninhibitstateisinforce.Ifthelocationsystemindicatesanazimutherrorbutnotarangeerrorthenthecaddywillswingrightorleftasmayberequired.Intheeventthisactionresultsinthefrontouterzonebreachbeingcleared,thentheforwardmotioninhibitwillberemoved.Intheeventthatanyzoneinnerbandisbreached,thenthevehiclestopsandmanualinterventionwillberequired.Whennegotiatingarise,theCaddyMotionControlinconjunctionwiththeLocationsystemisconstantlyattemptingtokeeptheCaddylocatedat2to4metersfromthegolferwithitsrespectiveRTUandonabearingofzerodegrees.ThisisachievedbyoperatinginclosedloopmodeoncetheRTUhasbeenacquiredbytheRadioLocationsystem.AnymovementoftheRTUrelativetotheCaddywillcauseasetoferrorsignalstobeoutputfromthelocationsystemwhichwillbedynamicallyrespondedtobytheHostControllerincommandingthemotioncontrolsystemtomovesuchthatthelocationsystemerroris