Driverless car travelling guide system
First Claim
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1. A guide system for a driverless car comprising:
- an electroconductive guide line positioned along the intended travel path of the driverless car,induction means associated with the driverless car for inducing a current flow in the guide line, anddetection means associated with the driverless car for detecting a magnetic field created by the flow of electric current in the guide line,wherein the electroconductive guide line comprises an electroconductive metallic tape or the like and wherein the detection means further comprises;
a first receiving coil for producing an output representative of the distance between the first receiving coil and the guide line,a second receiving coil from producing an output representative of the distance between the second receiving coil and the guide line, the first receiving coil and the second receiving coil being positioned on opposite sides of the driverless car,a comparator for comparing the output of the first receiving coil and the output of the second receiving coil and for generating a signal in response thereto,whereby a signal corresponding to the deviation of the driverless car from the guide line is generated by the comparator, and further comprising;
a pair of driving wheels provided on the driverless car,a corresponding pair of driving motors connected respectively to the driving wheels,means for supplying the driving motors with the signal generated by the comparator,whereby the driving wheels are controlled by the driving motors in response to the deviation of the driverless car from the guide line, and further comprising;
an amplifier and a rectifier connected respectively between each of the receiving coils and the comparator, each amplifier having an input and each rectifier having an output,an auto-gain control amplifier connected between the outputs of the rectifiers and the inputs of the amplifiers to thereby form a feedback loop,whereby a change in amplitude in the outputs of the receiving coils is automatically compensated for by the auto-gain control amplifier.
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Abstract
An electroconductive guide line is laid along a travelling path of a driverless car on the ground side, while on the driverless car side are provided a means for inducing electromotive force in the guide line and a means for detecting a magnetic field created upon generation of an electric current in the guide line.
42 Citations
1 Claim
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1. A guide system for a driverless car comprising:
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an electroconductive guide line positioned along the intended travel path of the driverless car, induction means associated with the driverless car for inducing a current flow in the guide line, and detection means associated with the driverless car for detecting a magnetic field created by the flow of electric current in the guide line, wherein the electroconductive guide line comprises an electroconductive metallic tape or the like and wherein the detection means further comprises; a first receiving coil for producing an output representative of the distance between the first receiving coil and the guide line, a second receiving coil from producing an output representative of the distance between the second receiving coil and the guide line, the first receiving coil and the second receiving coil being positioned on opposite sides of the driverless car, a comparator for comparing the output of the first receiving coil and the output of the second receiving coil and for generating a signal in response thereto, whereby a signal corresponding to the deviation of the driverless car from the guide line is generated by the comparator, and further comprising; a pair of driving wheels provided on the driverless car, a corresponding pair of driving motors connected respectively to the driving wheels, means for supplying the driving motors with the signal generated by the comparator, whereby the driving wheels are controlled by the driving motors in response to the deviation of the driverless car from the guide line, and further comprising; an amplifier and a rectifier connected respectively between each of the receiving coils and the comparator, each amplifier having an input and each rectifier having an output, an auto-gain control amplifier connected between the outputs of the rectifiers and the inputs of the amplifiers to thereby form a feedback loop, whereby a change in amplitude in the outputs of the receiving coils is automatically compensated for by the auto-gain control amplifier.
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Specification
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Current AssigneeMurata Machinery Limited (Muratec)
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Original AssigneeMurata Machinery Limited (Muratec)
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InventorsSaitoh, Yoshihiro, Kondoh, Minoru, Komatsu, Yukio
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Primary Examiner(s)Dobeck, Benjamin
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Application NumberUS07/082,441Time in Patent Office733 DaysField of Search318/582, 180/167, 180/168, 180/169US Class Current318/587CPC Class CodesG05D 1/0265 using buried wiresG05D 2201/0216 Vehicle for transporting go...Y02T 10/72 Electric energy management ...
