车辆防撞系统外文翻译.doc

车辆防撞系统外文翻译In one aspect the present invention broadly resides in a self-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 processorprogramming; and drive means supported on the vehicle frame means and adapted to receive and act on the electrical signal sent 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 present invention broadly resides in a system for a self- propelled robotic vehicle including transmitter means able to transmit a radio frequency signal; a self-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 sent from the processor to move the vehicle in accordance with the processor programming.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 phase. The processor preferably can combine the two signals for a summed RSSI reading and measure a phase 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 set 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 separate 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 increased by one or more methods including random transmission cycle for the transponders where the transmissions are coded so that they can be decoded and used 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 used 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 disengaged. 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 sensors 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 sensor. 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 response 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 1.2 meters from the vehicle. The inner boundary is preferably set 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 sensors. 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 increases up to a threshold level to keep the wheels turning. When the threshold level is reached or exceeded the current to the motor is preferably stopped. The override system is preferably activated when the vehicle moves up a very steep slope, when there is too much weight on the vehicle and when one or more wheels lose traction.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 sensor 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 sensor 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 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 present 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 set golf bag and all the usual golfing accessories whilst following the player with the respective transponder over the primary areas of a golf course (that is fairways and green to tee walkways).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 self 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, 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 precise and consistent frequency that is uniquely coded as well, so that it is identifiable only by its respective Caddy. The unit housing is purpose designed to allow for best form fit and use and will have the following controls integrated onto a single printed circuit board housed internally : power switch (including range switch); 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 cause the internal electronics to power on. The power switch is integral with range switch and causes the RTU electronics to adjust the power output of the RF transmitter. The follow me mode switch will cause the internal electronics to activate the RF transmission of beacon.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 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 separate follow me switch which is either on or off. This mode of operation is the primary mode for use of the vehicle. The golf caddy is controlled by the respective RTU as both entities are keyed with the same radio frequency. When the RTU moves away from the caddy, the electronics system determines the direction and rate at which the RTU is moving and will control the drive mechanism to the rear wheel set and their respective motor drives such that the vehicle will follow the RTU at a rate and direction equivalent to the RTUs 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). These 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 set navigational rules and processor prog