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VEHICLE GUIDANCE SYSTEMS

  • US 3,669,209 A
  • Filed: 10/13/1969
  • Issued: 06/13/1972
  • Est. Priority Date: 10/16/1968
  • Status: Expired due to Term
First Claim
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1. A vehicle including a magnetic sensing head for controlling the advance of the vehicle in relation to a system of energized wires, the magnetic sensing head comprising a first pair of magnetic detectors disposed on the vehicle for detecting the vertical component of an electromagnetic field and horizontally spaced from one another in the direction of advance of the vehicle, a second pair of magnetic detectors disposed on the vehicle for detecting the vertical component of an electromagnetic field and horizontally spaced from one another in a direction perpendicular to the direction of advance of the vehicle, the outputs of the magnetic detectors of each pair being connected in phase-opposition when the direction of the axial component of the magnetic field is the same in both detectors of the pair so that each pair of detectors is capable of producing a reSultant output dependent upon the algebraic sum of the signals induced in the two detectors comprising that pair, means for feeding the resultant output from the first pair of detectors to a phase sensitive detector together with a reference signal representative of the vertical component of the magnetic field strength in the vicinity of the first pair of detectors, means for comparing the resultant output of the second pair of detectors with a signal representative of the vertical component of the magnetic field strength in the vicinity of the second pair of detectors, further means for feeding any difference signal resulting from said comparison to a phase sensitive detector together with a reference signal representative of the vertical component of the magnetic field strength in the vicinity of the second pair of detectors, and means for selectively controlling a servo steering mechanism on the vehicle in accordance with either the resultant output from the first pair of detectors or the difference signal resulting from said comparison.

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