Method and apparatus for guiding a driverless vehicle using a sensor tracking a cable emitting an electromagnetic field

• US 5,434,781 A
• Filed: 08/13/1993
• Issued: 07/18/1995
• Est. Priority Date: 08/13/1993
• Status: Expired due to Term

• Current Assignee: Jervis B Webb Company (Daifuku Company Limited), Jervis B. Webb International Company
• Original Assignee: Control Engineering Company
• Inventors: Drenth, Ronald R., Alofs, Cornell W.
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Fiul, Dan
• Application Number:
  US08/106,427
• Time in Patent Office: 704 Days
• Field of Search: 180/168, 180/167, 180/169, 318/587, 364/424.02
• US Class Current: 701/23
• 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 method and apparatus for guiding a driverless vehicle along a path defined by a guide cable carrying a current in a horizontal road surface includes mounting a first coil, having a major coil axis, at +45 degrees relative to the horizontal on said vehicle, mounting a second coil, having a major coil axis, at -45 degrees relative to the horizontal on said vehicle such that the axes of said first and second coils intersect, sensing both the radial and circular field vectors of the electromagnetic field with each coil, comparing the magnitude of the radial vector with the magnitude of the circular vector for each coil whereby the lateral position of the intersection point of the axes of the coils is determined relative to the guide cable to indicate the lateral displacement of the vehicle relative to said path, and using the displacement information in the vehicle steering system.

Claims

1. An apparatus for guiding a driverless vehicle along a path defined by a guide cable disposed in a horizontal road surface, said guide cable carrying a current thereby generating an electromagnetic field in the space surrounding the guide cable, said apparatus comprising:

sensor means for sensing the direction and magnitude of the electromagnetic field;

said sensor means including first and second detecting coils mounted in an X-coil configuration on said vehicle in spaced longitudinal alignment such that major axes of said coils intersect at a point centrally of the coils as viewed in a longitudinal direction of travel of said vehicle, and said major axes are oriented generally at ±

45 degrees relative to said road surface;

each detecting coil sensing both the radial and circular field vectors of said magnetic field; and

comparing means in communication with said first and second detecting coils for comparing the magnitude of the radial vector with the magnitude of the circular vector whereby the lateral position of said sensor means relative to said guide cable is determined.

2. Apparatus as in claim 1 wherein said first and second coils have a core length and core diameter and wherein the longitudinal spacing between said coils is at least equal to one core length.

3. Apparatus as in claim 1 further including a mounting board having first and second sides for mounting said first detecting coil at +45 degrees on the first side of said mounting board and said second detecting coil at -45 degrees on said second side and wherein said mounting board is fixed to said vehicle.

4. Apparatus as in claim 2 wherein said comparing means divides the sensed electromagnetic fields radial vector by the circular vector whereby this ratio is proportional to the horizontal displacement of said sensor divided by the height of said sensor above said cable.

5. Apparatus as in claim 4 further including means for vehicle steering in communication with said comparing means for steering said vehicle in response to output received from said comparing means.

6. Apparatus as in claim 5 wherein said steering means is a digital steering system.

7. Apparatus as in claim 5 wherein said steering means is an analog steering system.

8. A method for guiding a driverless vehicle along a path defined by a guide cable disposed in a horizontal road surface, said guide cable carrying a current, thereby generating an electromagnetic field in the space surrounding the guide cable, said method comprising the steps of:

mounting a first coil, having a major coil axis, at +45 degrees relative to the horizontal on said vehicle;

mounting a second coil, having a major coil axis, at -45 degrees relative to the horizontal on said vehicle such that said axes of said first and second coils intersect centrally of the coils as viewed in a longitudinal direction;

sensing both the radial and circular field vectors of the electromagnetic field with each coil; and

comparing the magnitude of the radial vector with the magnitude of the circular vector for each coil whereby the lateral position of the intersection point of the axes of said coils is determined relative to the guide cable to indicate the lateral displacement of said vehicle relative to said path.

9. The method of claim 8 wherein said mounting of said second coil includes spacing said coils at least one coil core length apart in said longitudinal direction.

10. The method of claim 9 further including the step of communicating said lateral displacement information to a controller for vehicle steering.

11. The method of claim 8 wherein the lateral position of the intersection point of the axes of said coils is defined by:

##EQU4## wherein;

Distance (±

)=horizontal distance from the cable to the center of the coils

Height=vertical distance from the cable to the horizontal plane in which the coils can move.