Apparatus for guiding a trackless vehicle
First Claim
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1. Apparatus for guiding a trackless vehicle along a conductor, defining a vehicle path, carrying an A.C. current, the apparatus comprising:
- at least two sensors for detecting the magnetic field emanting from the conductor and producing output signals in response thereto, andelectronic circuitry for providing deviation signals, used to guide the vehicle, said circuitry including a phase-locked loop (PLL), the PLL including a phase-sensitive detector (PSD), a voltage-controlled oscillator (VCO), and a control unit for receiving the output of the PSD and transforming it into a control voltage, the control voltage being applied to the VCO,the VCO generating a rectangular output signal equal to 2n times the frequency of the PLL, the PLL including a divider circuit for dividing the VCO output signal by 2n, and a frequency divider for simultaneously generating a demodulation signal shifted through 90°
,means for applying the output signal of one of the sensors to the input of the PLL,means for demodulating the output signals of the sensors, andmeans for applying the output of the PLL to the demodulating means.
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Abstract
Apparatus for guiding a trackless vehicle along an A.C. conductor marking a roadway, having at least two sensors to detect a magnetic field emanating from the current conductor the output signals of which are routed to interpretive electronics. The interpretive electronics include a phase-locked loop (PPL) the input signal to which is the output signal of one of the sensors, and the output signal of which is used for demodulation, by mixers, of the sensor signals.
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Citations
11 Claims
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1. Apparatus for guiding a trackless vehicle along a conductor, defining a vehicle path, carrying an A.C. current, the apparatus comprising:
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at least two sensors for detecting the magnetic field emanting from the conductor and producing output signals in response thereto, and electronic circuitry for providing deviation signals, used to guide the vehicle, said circuitry including a phase-locked loop (PLL), the PLL including a phase-sensitive detector (PSD), a voltage-controlled oscillator (VCO), and a control unit for receiving the output of the PSD and transforming it into a control voltage, the control voltage being applied to the VCO, the VCO generating a rectangular output signal equal to 2n times the frequency of the PLL, the PLL including a divider circuit for dividing the VCO output signal by 2n, and a frequency divider for simultaneously generating a demodulation signal shifted through 90°
,means for applying the output signal of one of the sensors to the input of the PLL, means for demodulating the output signals of the sensors, and means for applying the output of the PLL to the demodulating means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification
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Current AssigneeMan Maschinenfabrik Augsburg-Nurnberg AG
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Original AssigneeMan Maschinenfabrik Augsburg-Nurnberg AG
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InventorsSchmidt, Alfred, Flachenecker, Gerhard
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Primary Examiner(s)Shoop, Jr., William M.
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Assistant Examiner(s)BERGMANN, SAUL
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Application NumberUS06/653,984Time in Patent Office540 DaysField of Search318/587, 318/696, 318/685, 364/436, 329/50US Class Current318/587CPC Class CodesG05D 1/0265 using buried wires
