Magnetically guided vehicle

Claim 1

An improved guidance system, comprising: (a) a tape having permanent magnet material incorporated therein, said tape being attachable to a floor surface, said tape, when attached to said floor surface, defining a desired guide path; (b) a device adapted to travel over said floor surface along said guide path, said device having a guidance system, comprising: (i) at least three Hall effect sensors arranged in a linear array, said device being oriented with respect to said guide path such that said array is maintained, by operation of said guidance system, substantially perpendicular to said guide path; (ii) a controller electrically connected to said sensors and receiving first signals therefrom indicative of the position of said array with respect to said tape, each said sensor being electronically connected to said controller via a corresponding sub-circuit including a comparator which compares said first signals with a variable reference signal, said controller varying said reference signal from a first high voltage downwardly in stepped fashion until said first signals exceed said reference signal whereupon said first signals are transmitted to said controller; (iii) motive means on said device for moving said device along said guide path, said controller emitting second signals to control said motive means; (c) a code on said floor surface, said guidance system having a code reader adapted to read said code when said device travels thereover, said code reader sending third signals to said controller indicative of said code, said third signals accessing a memory means of said controller wherein information is stored regarding specifics of said guide path, said controller comparing said information with said first signals to verify movements of said device along said guide path.