Wire guidance method and apparatus

• US 4,307,329 A
• Filed: 11/06/1979
• Issued: 12/22/1981
• Est. Priority Date: 10/07/1977
• Status: Expired due to Term

• Current Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Original Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Inventors: Taylor, Charles L.
• Primary Examiner(s): Dobeck, B.
• Application Number:
  US06/091,763
• Time in Patent Office: 777 Days
• Field of Search: 180/168, 318/580, 318/587
• US Class Current: 318/587
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A ground vehicle guidance system for following a current-carrying guidewire provides improved steering stability over a wide range of speeds and improved immunity to inductive field anomalies by computing vehicle heading and lateral displacement using sensor signals themselves substantially insensitive to heading variations, with the sensor signals being processed to provide steering command signals having specified relationships to vehicle steering geometry, so that desired damping factors can be obtained for both forward and reverse travel. Improved vehicle speed-limiting and stopping circuits control truck operation in accordance with computed heading and lateral displacement deviations independently from each other. Steering systems are illustrated both for vehicles using steerable wheels and vehicles steered by differential drive wheel speed control.

Claims

1. Automatic guidance apparatus for a ground vehicle operable in forward and reverse directions along a reference path defined by a current-carrying guidewire, comprising, in combination:

a sensor assembly operative during both forward and reverse directions of travel to provide a first signal which varies in proportion to the lateral displacement of a first point on said vehicle from said reference path and to provide a second signal which varies in proportion to the heading deviation of a first axis of said vehicle from said reference path;

means for combining said first and second signals using predetermined scale factors to provide a command signal during both forward and reverse directions of travel including means for reversing the sense of said second signal between forward and reverse directions of travel, said vehicle including steering means responsive to said command signal for steering said vehicle.

2. Apparatus according to claim 1 wherein said means for combining is operative to vary the ratio between said predetermined scale factors between said forward and reverse directions of travel.

3. Apparatus according to claim 1 wherein said sensor assembly comprises sensor means fixedly mounted on said vehicle for sensing the lateral displacements of two points on said sensor means from said reference path to provide third and fourth signals respectively commensurate with said displacements, and means for combining said third and fourth signals during both said forward and reverse directions of travel to provide said first and second signals.

4. Apparatus according to claim 1 wherein said vehicle includes a pair of non-dirigible wheels located on a laterally extending axis, wherein said steering means includes a steerable wheel situated a longitudinal wheel-base distance B from said laterally extending axis and a position servomechanism connected to receive said command signal and position said steerable wheel.

5. Apparatus according to claim 1 wherein said steering means comprises a pair of drive wheels mounted laterally apart a distance F on a second axis of said vehicle, and means for varying the relative speeds of said drive wheels.

6. Apparatus according to claim 1 wherein said vehicle includes traction motive means for driving said vehicle, and switching means responsive to said first signal commensurate with lateral displacement for controlling the operation of said traction motive means.

7. Apparatus according to claim 1 wherein said vehicle includes traction motive means for driving said vehicle, and switching means responsive to said second signal commensurate with heading deviation for controlling the operation of said traction motive means.

8. The vehicle according to claim 4 wherein said predetermined scale factors are selected to cause said command signal to vary in proportion to the relationship K₁ d+K₂ ψ

, where K₁ and K₂ specify the sensitivity of response of said steering means to lateral displacement d and heading deviation ψ

, respectively, and wherein the relationship between K₁ and K₂ lies in between K₂ =√

K₁ B+K₁ c and K₂ =3 √

K₁ B+K₁ c for travel with said non-dirigible wheels leading said steerable wheel, and lies in between K₂ =√

K₁ B-K₁ c and K₂ =3 √

K₁ B-K₁ c for travel with said steerable wheel leading said non-dirigible wheels, where a c represents the longitudinal distance of said first point on said vehicle measured from said laterally extending axis toward said steerable wheel.

9. Apparatus according to claim 4 having switching means for varying between first and second values the amount which said servomechanism turns said steerable wheel per unit of magnitude of said command signal;

and comparator means responsive to said first and second signals and operative when both said first and second signals decrease below respective predetermined values for operating said switching means to decrease said amount to said second value.

10. The vehicle according to claim 5 wherein said predetermined scale factors are selected to cause said command signal to vary in proportion to the relationship K₁ d+K₂ ψ

, where K₁ and K₂ specify the sensitivity of response of said steering means to lateral displacement d and heading deviation ψ

, respectively, and wherein the relationship between K₁ and K₂ lies in between K₂ =√

FK₁ V+K₁ c and K₂ 3 √

FK₁ V+K₁ c for travel in one direction and lies in between K₂ =√

FK₁ V-K₁ c and K₂ =3 √

FK₁ V-K₁ c for travel in the opposite direction, where V is the speed of said vehicle and c is the longitudinal distance of said first point on said vehicle from said second axis measured in a direction opposite to the direction of travel.

11. The vehicle according to claim 6 wherein said switching means is operative to limit the speed of said traction motive means to a finite value when said first signal exceeds a first value and operative to stop said traction motive means when said first signal exceeds a second value.

12. The vehicle according to claim 6 having means for providing a fifth signal commensurate with the time rate of change of said third signal, said switching means being responsive to said fifth signal.

13. The vehicle according to claim 7 wherein said switching means is operative to limit the speed of said traction motive means to a finite value when said second signal exceeds a first value and operative to stop said traction motive means when said second signal exceeds a second value.

14. The vehicle according to claim 7 having means for providing a fifth signal commensurate with the time rate of change of said fourth signal, said switching means being responsive to said fifth signal.

15. A guided ground vehicle, comprising, in combination:

sensor means operative to provide a first signal commensurate with lateral displacement of a point on said sensor means from a reference path defined by a current-carrying guidewire and a second signal commensurate with heading deviation of said sensor means from said reference path;

means for combining said first and second signals to provide a steering command signal;

a steerable wheel for steering said vehicle;

a closed-loop position servomechanism connected to receive said steering command signal and to position said steerable wheel;

switching means for varying between first and second values the amount which said servomechanism turns said steerable wheel per unit magnitude of said command signal; and

comparator means responsive to said first and second signals and operative when both said first and second signals decrease below respective predetermined values for operating said switching means to decrease said amount to said second value.

16. The vehicle according to claim 15 having traction motor means and traction motor control means operative to limit vehicle speed to a finite value without stopping said vehicle, said comparator means being operative to disable said traction motor control means and allow vehicle speed to exceed said finite value when both said first and second signals decrease below said respective predetermined values.

17. The vehicle according to claim 16 wherein said switching means comprises a latch means connected to be set by said comparator means to decrease said amount when both said first and second signals have first decreased below said respective predetermined values and to remain set if either of said first and second signals thereafter exceeds its respective predetermined valsaid comparator means being connected to enable said traction motor control means to limit vehicle speed to said low finite value if either of said first and second signals thereafter exceeds its respective predetermined value.

18. The vehicle according to claim 16 having second traction motor control means responsive to said comparator means and operative to stop said traction means if either of said first and second signals exceeds a second respective predetermined value.

19. A sensor assembly for use on a guided ground vehicle having traction motor means for driving said vehicle, a steerable wheel for steering said vehicle, and a servomechanism connected to position said steerable wheel, comprising, in combination:

a sensor having a plurality of coils affixed to said vehicle and operable to provide first and second voltages commensurate with displacements of said coils from a reference path defined by a current-carrying guidewire, means for combining said first and second voltages to provide a first signal commensurate with lateral displacement of said sensor from said reference path and to provide a second signal commensurate with heading deviation of said sensor from said reference path, means for combining said first and second signals to provide a steering command signal, said servomechanism being responsive to said steering command signal; and

comparator means responsive to said first and second signals for controlling said traction motor means, said comparator means being operable to limit speed of said vehicle without stopping said vehicle while either said first signal or said second signal exceeds a respective first predetermined value.

20. The assembly according to claim 19 wherein said comparator means is operable to stop said vehicle if either said first signal or said second signal exceeds a respective second predetermined value greater than its respective first predetermined value.

21. The assembly according to claim 19 having switching means for varying between first and second values the amount which said servomechanism turns said steerable wheel per unit magnitude of said steering command signal, said comparator means including means for operating said switching means to decrease said amount to said second value when both said first and second signals decrease below respective predetermined values.

22. The assembly according to claim 19 wherein said vehicle is operable in forward and reverse directions said means for providing said steering command signal includes means for reversing the sense of said second signal between said forward and reverse directions.

23. The assembly according to claim 19 wherein said sensor includes first and second pairs of coils each arranged to straddle said guidewire, means for amplifying and rectifying voltages induced in said first pair to provide said first voltage, and means for amplifying and rectifying voltages induced in said second pair to provide said second voltage.

24. The assembly according to claim 21 wherein said switching means comprises a latch means connected to be set by said comparator means to decrease said amount when both said first and second signals have first decreased below said respective first predetermined values and to remain set if either of said first and second signals thereafter exceeds its respective predetermined value.