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    • 4. 发明授权
    • Wire guidance method and apparatus
    • 导线方法和装置
    • US4307329A
    • 1981-12-22
    • US091763
    • 1979-11-06
    • Charles L. Taylor
    • Charles L. Taylor
    • B62D1/28G05D1/02B62D1/24
    • G05D1/0265B62D1/28G05D1/0244G05D1/0272G05D2201/0216
    • A ground vehicle guidance system for following a current-carrying guidewire provides improved steering stability over a wide range of speeds and improved immunity to inductive field anomalies by computing vehicle heading and lateral displacement using sensor signals themselves substantially insensitive to heading variations, with the sensor signals being processed to provide steering command signals having specified relationships to vehicle steering geometry, so that desired damping factors can be obtained for both forward and reverse travel. Improved vehicle speed-limiting and stopping circuits control truck operation in accordance with computed heading and lateral displacement deviations independently from each other. Steering systems are illustrated both for vehicles using steerable wheels and vehicles steered by differential drive wheel speed control.
    • 用于跟随载流导丝的地面车辆引导系统通过使用传感器信号本身基本上不敏感于航向变化的计算车辆航向和横向位移来提供在宽范围的速度上的改进的操纵稳定性和改善的对感应场异常的抗扰性,其中传感器信号 被处理以提供具有与车辆转向几何形状有特定关系的转向指令信号,从而可以获得正向和反向行驶期望的所需阻尼因子。 改进的车辆限速和停止电路根据计算的航向和横向位移偏差彼此独立地控制卡车运行。 对于使用可转向车轮的车辆和通过差速驱动轮速度控制转向的车辆,都会显示转向系统。