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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
First Claim
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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.

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