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    • 6. 发明授权
    • Apparatus for sensing a failed position and velocity sensor
    • 用于感测故障位置和速度传感器的装置
    • US4864284A
    • 1989-09-05
    • US130060
    • 1987-12-08
    • John W. CraytonCharles T. KinasScott G. Sinn
    • John W. CraytonCharles T. KinasScott G. Sinn
    • G01P21/02G05D1/00G05D1/02
    • G05D1/0272G01P21/02G05D1/0077
    • A self guided vehicle employs a highly accurate velocity sensor to determine vehicle speed and position. The velocity sensor includes a resolver connected to and rotatable with a ground engaging wheel. A resolver to digital converter (R/D) provides a highly accurate 8-bit digital signal representative of the angle of wheel rotation. A second less expensive and less accurate velocity sensor also receives the modulated sine and cosine signals from the resolver and produces a series of pulses representative of vehicle speed. The pulses are produced by detecting the zero crossings of the sine, cosine, and combinations of the sine and cosine signals. The velocity information present in the second velocity sensor signal is not used to actually guide the vehicle, but merely to generally validate the information present in the R/D signal.
    • 自动导向车辆采用高精度的速度传感器来确定车辆速度和位置。 速度传感器包括连接到地面接合轮并可与地面接合轮一起旋转的旋转变压器。 解算器到数字转换器(R / D)提供了一个高精度的8位数字信号,代表了车轮旋转的角度。 第二个较便宜且不太准确的速度传感器还从解算器接收调制的正弦和余弦信号,并产生代表车速的一系列脉冲。 通过检测正弦,余弦和正弦和余弦信号的组合的过零点产生脉冲。 存在于第二速度传感器信号中的速度信息不用于实际引导车辆,而仅用于通常验证存在于R / D信号中的信息。