| 摘要 |
An automatic guidance device for a self-powered cargo-moving vehicle operated by a vehicle-borne sensor which follows a buried, energized wire path and which includes sensor means mounted either between the fixed and steerable axles or in the front of the fixed axle of the vehicle for guiding the vehicle when it travels in a direction such that the fixed axle precedes the sensor by effectively generating a position error signal relative to the direction of travel, the position error signal provided by a pair of sensing coils whose outputs are combined to generate an error signal V=K(R-F)+F where R and F are the differences of the output of a pair of rear sensor, and a pair of forward sensors, respectively, and K is equal to the ratio of the distance between the forward pair of coils and the virtual sense point to the distance of the rear and forward pairs of coils.
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