Apparatus for automatic guidance of a trackless vehicle

• US 4,258,813 A
• Filed: 11/20/1978
• Issued: 03/31/1981
• Est. Priority Date: 11/22/1977
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Rubel, Erich
• Primary Examiner(s): Love, John J.
• Assistant Examiner(s): Underwood, Donald W.
• Application Number:
  US05/962,393
• Time in Patent Office: 862 Days
• Field of Search: 180/167, 180/168, 180/79.1, 318/587, 318/580
• US Class Current: 180/168
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

In order to permit digital processing of the alternating signals induced in a pair of perpendicular detecting coils mounted on a trackless vehicle which is guided over a buried guide cable carrying alternating current, one of the induced signals is phase shifted and applied to one input of a comparator whose other input receives the other signal. At the same time, the other signal is also fed to a comparator which produces a rectangular output signal in phase with the original signal. The outputs of the two comparators are fed to a microprocessor which generates an error signal related to the time interval between the occurrence of periodic features of the two input signals. The error signal is used to engage the steering gear of the vehicle to return it to its path over the guide cable. In further embodiments, the frequency of the input signals is lowered to facilitate digital processing and a separate counter is used to uncouple the microprocessor from the detection apparatus, permitting it to process the data at a lower frequency of operation.

Claims

1. An apparatus for guiding a trackless vehicle along a path defined by a guide cable disposed in the road surfce, said guide cable carrying an alternating current, thereby generating an alternating electromagnetic field in the space surrounding the guide cable, said apparatus having detector means for detecting the direction and magnitude of the alternating magnetic field, said detector means including a first detecting coil (13) disposed substantially horizontally on said vehicle and a second detecting coil (14) disposed substantially perpendicular to said first detecting coil, for generating from the alternating magnetic field first and second alternating signals, respectively,

and comprising, in accordance with the invention,

phase shifting means (24) connected to the second detecting coil (14) and receiving the second signal to shift the phase of said second signal and thereby form a third signal;

and computer means (21, 22;

     25) connected to the first coil for receiving said first signal and to the phase shifting means (24) for receiving the third signal,

said computer means including

clock means (25t;

31, 25t'"'"') and

comparator means (21,

     22) comparing the relative phase of the first signal representative of the phase of the alternating magnetic field with the phase of the third signal,

said computer deriving a digital error signal as a function of the phase difference between the first and third signals to thereby obtain a control signal to steer said vehicle in the sense of reducing the phase difference between the first and third signals, resulting in guiding said vehicle (10) in a path over said guide cable (12).

2. Apparatus according to claim 1, wherein the comparator means comprises a first comparator (21) having first and second inputs, the first input of said first comparator (21) being connected to said first detecting coil (13) to receive therefrom said first signal and the second input of said first comparator (21) being connected to a source of a fixed reference potential;

and a second comparator (22) having first and second inputs, said first input of said second comparator being also connected to said first detecting coil (13) and said second input of said second comparator (22) being connected to the output of the phase shifting means (24) which is connected to said second coil (14).

3. Apparatus according to claim 2, wherein the computer means includes signal processor means (25) connected to and controlled by the outputs of said first and second comparators (21, 22) to generate said digital error signal representative of said phase difference.

4. Apparatus according to claim 1, further comprising frequency conversion means (26, 27, 28), coupled to the outputs of said first and second detecting coils (13, 14) for generating from said alternating first and second signals corresponding signals at a lower frequency.

5. Apparatus according to claim 4, wherein said frequency conversion means generates a lower frequency by sampling.

6. Apparatus according to claim 2, further comprising a reference oscillator (31);

a phase comparator (32);

and a digital counter (30) connected with the reference oscillator and the phase comparator in a phase-locked loop,

the digital counter being connected to be reset by the first comparator (21) for counting pulses generated by the reference oscillator (31), the frequency of the reference oscillator being controlled in the phase-locked loop to maintain a fixed ratio to the frequency of the output signal from said first comparator;

said counter (30) being further connected to and controlled by the output from the second comparator, comparing said first and third signals to control read-out of the counter and providing said digital error signal as a function of the count state of the counter and hence of the pulses furnished from the reference oscillator (31) upon non-coincidence of a signal characteristic of the first and third signals.

7. Apparatus according to claim 6, further comprising a buffer circuit (33) to receive the contents of said digital counter;

and a digital processor forming parts of said computer means (25) connected to the output of said buffer circuit (33) to perform digital processing of the contents of said buffer, and hence of the read-out of the counter at a rate independent of the frequency of said first and second signals.

8. Apparatus according to claim 1, further comprising frequency conversion means (26, 27, 28, 34);

and wherein said phase shifting means form part of the frequency shifting means.

9. Apparatus according to claim 8, wherein the frequency conversion means includes a pulse forming state (34) having a plurality of outputs and producing relatively phase shifting sampling pulses at said respective outputs.

10. Apparatus according to claim 9, wherein said pulse forming stage (34) comprises a 1:

4 divider, including a counter, to provide 90°

phase-shifted outputs at respective terminals of the divider.