| 摘要 |
A wire guidance apparatus for an automated guided vehicle which comprises a first crossed coil sensor for acquiring a wire and tracking along curves in the wire as the vehicle is travelling in the forward direction, a second crossed coil sensor for acquiring the wire and tracking along the wire when the vehicle is travelling in the reverse direction, third and fourth sensors for tracking along straight runs in the wire and circuitry for switching between the crossed coil sensors and the third and fourth sensors. Circuitry is also provided to generate a guidance error signal from the outputs of either of the crossed coil sensors or both the third and fourth sensors. The guidance error signal is then used to control a motor connected to a steerable wheel of the vehicle to maintain the vehicle in alignment with the wire.
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