Automatic guidance apparatus

• US 4,219,092 A
• Filed: 02/18/1977
• Issued: 08/26/1980
• Est. Priority Date: 02/28/1976
• Status: Expired due to Term

• Current Assignee: Wolfdieter Richter
• Original Assignee: Wolfdieter Richter
• Inventors: Richter, Wolfdieter
• Primary Examiner(s): Peters, Jr., Joseph F.
• Assistant Examiner(s): McGiehan, Donn
• Application Number:
  US05/770,027
• Time in Patent Office: 1,285 Days
• Field of Search: 180/98, 180/79, 180/79.1, 250/393, 250/460, 250/272, 250/273, 250/274, 250/363, 250/202, 318/577, 318/587, 118/4, 111/26
• US Class Current: 378/45
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

The invention relates to apparatus for automatically guiding a moving object such as a vehicle along a pre-determined path, the apparatus including two detectors which are mounted in a spaced apart relationship on the object, the detectors being responsive to the intensity of electro-magnetic waves such as X-Rays emitted along the path. Comparison means for instance a dividing circuit is connected to the detectors to determine the ratios of the intensities of the magnetic waves and to provide a signal which is acted on by adjustment means that adjusts the direction of movement of the object to bring it back onto the path. The invention provides for irradiation means which is mounted on the object and which causes excitation and emission of secondary waves of pre-determined wavelength from the path.

Claims

1. Apparatus suitable for automatically guiding a moving object relative to a predetermined path defined by a stripe of material capable of emitting, upon X-ray irradiation thereof, secondary X-ray waves characteristic of said material comprising:

radiation means mountable on the object for irradiating the path with electromagnetic waves of a wavelength chosen within the X-ray spectrum to cause excitation and emission of secondary X-ray waves of a predetermined wavelength from the stripe defining the path;

two detectors located in a spaced-apart relationship on the object, the detectors being selectively responsive to the intensity of the characteristic secondary X-ray waves emitted from said stripe;

comparison means connected to the detectors for comparing the detector outputs and providing an output signal related to the intensities of the detected characteristic secondary X-ray waves; and

servo means connected to the comparison means for adjusting the direction of movement of the object relative to the path in accordance with the output signal received from the comparison means.

2. An apparatus as claimed in claim 1 wherein said object is a vehicle upon which said apparatus is mounted.

3. An apparatus as claimed in claim 2 wherein said vehicle is equipped with means for applying road markings to roads.

4. An apparatus as claimed in claim 1 wherein said detectors are proportional counters.

5. An apparatus as claimed in claim 4 wherein said detectors are Xenon-filled proportional counters.

6. An apparatus as claimed in claim 1 wherein said radiation means in Plutonium-238.

7. An apparatus as claimed in claim 1 wherein said comparison means provides an output which is a ratio of the intensities detected by said two detectors.

8. A method for automatically guiding a moving object relative to a path defined by a stripe of material capable of emitting, upon X-ray irradiation thereof, secondary X-ray waves characteristic of said material, comprising the steps of:

irradiating a path from a source on the object with electromagnetic waves of a wavelength chosen within the X-ray spectrum for causing excitation and emission of characteristic secondary X-ray waves of predetermined wavelength from the stripe defining the path;

detecting the intensities of the characteristic secondary X-ray waves, emitted along the path, from spaced apart positions on the object;

comparing the detected characteristic secondary X-ray wave intensities to obtain an electric signal related to the relative inequality between the detected intensities; and

adjusting the position of the object to a predetermined position relative to the path in response to said electric signal.

9. A method as claimed in claim 8 wherein said electrical signal is fed to a servo unit operating to steer said object to maintain its position relative to said path.