Guidance control system for a steerable, trackless

专利名称：Guidance control system for a steerable,

trackless vehicle

发明人：Eberhard Schnaibel申请号：US06/012566申请日：19790215公开号：US04247896A公开日：19810127

摘要：To decode signals picked up in a horizontal and vertical coil on the vehicleinduced by a buried a-c energized cable, in which the vertical position of the coil abovethe cable is determined, a null sensing circuit is coupled to the horizontal coil to sensewhen the signal induced therein passes through zero. The signal induced in the verticalcoil is likewise sensed, but rather than sensing the null, the peak value is determined. Thispeak value induced in the vertical coil will occur some time after the signal in thehorizontal coil has passed through null or zero, and the peak value in the vertical coil iscompared with the rise in signal in the horizontal coil. When the two signals (peak andrising horizontal coil signals) are equal, the time between the equality and the null pointof the horizontal signal is determined, and used as a control parameter to steer thevehicle so that this time will be effectively null or zero, at which time the vehicle will becentered over the guide cable. The time can be determined by the count of a counter,the count state of which is transferred to a memory for read-out at a clock ratedetermined by a steering computer.

申请人：ROBERT BOSCH GMBH

代理机构：Frishauf, Holtz, Goodman & Woodward

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