Guidance system for guiding trackless vehicles along a path defined by an A-C energized conductor

• US 3,993,156 A
• Filed: 01/21/1976
• Issued: 11/23/1976
• Est. Priority Date: 02/19/1975
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Rubel, Erich
• Primary Examiner(s): Song, Robert R.
• Assistant Examiner(s): Siemens, Terrance L.
• Application Number:
  US05/650,917
• Time in Patent Office: 307 Days
• Field of Search: 180/98, 318/587
• US Class Current: 180/168
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A pair of main coils are arranged with their axes horizontally located, for example between the wheels, and symmetrically with respect to a longitudinal vertical plane of symmetry of the vehicle; a pair of auxiliary coils are located adjacent the horizontal coils, symmetrical with respect to said plane and having axes located at least approximately in a common vertical plane transverse to the longitudinal plane of symmetry of the vehicle, the coils including with said longitudinal plane an acute angle to open outwardly in the downward direction towards the conductor, preferably in the range of between 10° to 45°, for example about 20°. The main coils are differentially connected, the auxiliary coils are additively connected, and the output signals are divided to form a proportional ratio which forms the error signal indicative of deviation of said longitudinal plane of symmetry, at the location of the coils, from the conductor.

Claims

1. Guidance system for guiding a trackless vehicle to operate on a surface (3) along a path defined by a guide conductor (4) located on or in the surface and having an a-c flowing therein and an a-c field thereabout, comprising

at least two horizontal coils (11, 12) located on the vehicle and having a common horizontal winding axis (18), positioned symmetrically with respect to a vertical longitudinal central plane of symmetry (1) between the wheels of the vehicle (2);

and two auxiliary coils (13,

     14) respectively located adjacent the horizontal coils (11,

     12) and symmetrical with respect to said longitudinal plane of symmetry, and having winding axes (15,

     16) located at least approximately in a common vertical plane transverse to said longitudinal plane, each coil including an acute angle (α

), open towards a conductor (4) with said longitudinal plane of symmetry (1).

2. System according to claim 1, wherein the included angle of the axis (15, 16) of an auxiliary coil (13, 14) with respect to said longitudinal vertical plane of symmetry (1) is between about 10°

and 45°

.

3. System according to claim 2, wherein said angle is in the order of approximately 20°

.

4. System according to claim 2, wherein the auxiliary coils (13, 14) are located approximately with half their length above and half their length below the horizontal winding axis (18) of the horizontal coils (11, 12).

5. System according to claim 2, wherein the horizontal coils (11, 12) are differentially connected together to form a difference voltage (U₁ - U₂);

and the auxiliary coils (13,

     14) are additively connected together to form a sum voltage (U₃ + U₄).

6. System according to claim 5, further comprising a division network (D) having said difference voltage and said sum voltage applied thereto and forming a proportion voltage, said proportion voltage being representative of the error voltage (E) of deviation of the position of the longitudinal plane of symmetry (1) at the position of the coils from the conductor (4).

7. System according to claim 5, wherein the apex of intersection of the axes (15, 16) of the auxiliary coils is located at a distance (H) from the surface which is twice the distance (h) of the horizontal axis (18) of the horizontal coils (11, 12) from said surface (H = 2h).

8. System according to claim 6, wherein the apex of intersection of the axes (15, 16) of the auxiliary coils is located at a distance (H) from the surface which is twice the distance (h) of the horizontal axis (18) of the horizontal coils (11, 12) from said surface (H = 2h).

9. System according to claim 7, wherein said angle is approximately 20°

.

10. System according to claim 8, wherein said angle is approximately 20°

.