Phase sensitive guidance sensor for wire-following vehicles

Abstract

A guidance sensor for a wire-following vehicle which is phase sensitive, includes an array of coils positioned to sense the vertical component of a magnetic field produced by the ac current through the guidance wire. The outputs of the coils are fed to associated flip flops. Flip flops associated with coils, through which flux passes in one direction, e.g., up, are driven to one state, e.g., true, and flip flops associated with coils through which flux passes in the opposite direction, e.g., down, are driven to a false state. The control signal to guide the vehicle over the wire is a function of the number of flip flops in the true state. Circuitry is included to prevent flip flops from assuming a wrong state due to noise.