CN100523734C - Magnetic guiding arrangement for driverless vehicle - Google Patents
Magnetic guiding arrangement for driverless vehicle Download PDFInfo
- Publication number
- CN100523734C CN100523734C CNB2006101166245A CN200610116624A CN100523734C CN 100523734 C CN100523734 C CN 100523734C CN B2006101166245 A CNB2006101166245 A CN B2006101166245A CN 200610116624 A CN200610116624 A CN 200610116624A CN 100523734 C CN100523734 C CN 100523734C
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- Prior art keywords
- magnetic
- sensors
- guide rail
- array
- automatic driving
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 12
- 229920006335 epoxy glue Polymers 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 2
- 239000004593 Epoxy Substances 0.000 abstract 2
- 150000003071 polychlorinated biphenyls Chemical class 0.000 abstract 2
- 238000012360 testing method Methods 0.000 description 3
- 229910001369 Brass Inorganic materials 0.000 description 2
- 239000010951 brass Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- -1 microwave radar Chemical compound 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The magnetic guide device for unmanned pilot vehicle comprises: some magnetic nails buried under road ground along vehicle track, the magnetic sensor array with 13 reluctance sensors and peripheral circuit and PCB and epoxy plate, and the horizontal and vertical guide rails. Wherein, nine sensors with peripheral circuit are welded on a large PCB, other sensors with peripheral circuit are welded on four small PCBs respectively, all five PCBs are set on the epoxy plate, and sensors are varied-space arranged in line. This invention can ensure vehicle running with high precision and reliability.
Description
Technical field
What the present invention relates to is a kind of device of Electromechanical Control technical field, specifically is a kind of magnetic guide of automatic driving vehicle.
Background technology
Automatic driving vehicle also claims intelligent vehicle, is the important application of outdoor wheeled mobile robot at field of traffic.It uses onboard sensor, for example vision, laser radar, sonac, microwave radar, GPS, odometer, magnetic compass etc., the perception vehicle-periphery, and according to road, vehicle pose and obstacle information that perception obtained, turning to and speed of control vehicle, thus guarantee that vehicle can be safely and reliably in travels down.Navigation is the core technology of automatic driving vehicle, the navigate mode of comparative maturity comprises inertial navigation, vision guided navigation, laser navigation, GPS navigation and magnetic navigation etc. at present, but inertial navigation increase error in time can accumulate, be not suitable for long-time navigation, the vision guided navigation calculated amount is big, influenced by illumination condition, GPS navigation is subject to urban architecture and disturbs, for laser navigation, laser radar costs an arm and a leg, and direct reflection and diffuse reflection can occur.With respect to other navigate mode, magnetic navigation measuring accuracy height, good reproducibility, be not subject to the influence of weather and illumination, have higher reliability and robustness, with low cost, maintenance cost is low, and advantages such as long service life are a kind of very promising automatic driving vehicle airmanships.
There is following problem in domestic and international existing magnetic guide at present: 1. setting height(from bottom) is too low: in automatic driving vehicle magnetic navigation system, magnetoresistive transducer generally is mounted in the front bumper place of vehicle, cross low sensor setting height(from bottom) vehicle is bumped on when operation and ground, the destruction magnetic guide.2. cost an arm and a leg: in order to increase the setting height(from bottom) of magnetoresistive transducer, adopt mostly to increase the magnetic nail dimension or adopt expensive magnetoresistive transducer, this has increased the magnetic guide expense greatly.3. measuring accuracy is not high: be to utilize three or five sensors to line up a row mostly, form and be used for lateral direction of car deviation measured sensor array that because transducer spacing is from bigger, measuring accuracy is not high.4. poor sensitivity: use Hall element or coil induction type magnetoresistive transducer insensitive to the induction in small and weak magnetic field.
Find through literature search prior art, " the Smartway sensor design of magnetic markers navigation " that Wang Chunyan etc. deliver on " traffic and computing machine " (2002 the 20th volume the 3rd phase 10-13 pages or leaves), propose a kind of road track in this article and keep magnetic induced device, this device is made up of five solenoid sensors, five sensors are in-line and equidistantly are installed in the vehicle front bumper below, its deficiency is: the spacing between electromagnetism resistance sensor is bigger, lateral direction of car deviation measuring accuracy is not high enough, electromagnetism resistance transducer sensitivity is relatively low, and the magnetic track nail that needs large-size is as the magnetic signal source.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of magnetic guide of automatic driving vehicle is provided, by adopting low cost, highly sensitive magnetoresistive transducer to improve the setting height(from bottom) of array of magnetic sensors, reduce to take place the magnetic nail dimension in source as magnetic signal, reduce the input expense, by adopting the array of magnetic sensors mode of unequal-interval, the measurement that improves the lateral direction of car deviation guarantees automatic driving vehicle energy high precision, high reliability operation.
The present invention is achieved by the following technical solutions: the magnetic guide of automatic driving vehicle of the present invention comprises magnetic nail, array of magnetic sensors and three parts of array of magnetic sensors mounting guide rail.
Described magnetic nail, take place under the source is embedded in pavement of road along the vehicle operating track as field signal, spacing is relatively big between straight line highway section magnetic nail, and the spacing between curve highway section magnetic nail will reduce relatively, the material of magnetic nail adopts neodymium iron boron, is shaped as cylindrical.
Described array of magnetic sensors, by 13 sensors and correspondent peripheral circuit, pcb board and epoxy glue plank constitute, what sensor adopted is magnetoresistive transducer, wherein 9 sensors and correspondent peripheral circuit are welded on the big pcb board, other 4 sensors and peripheral circuit separately are welded on respectively on four little pcb boards, five pcb boards all are installed on the epoxy glue plank altogether, constitute the array of magnetic sensors structure, sensor is word order in the mode of unequal-interval, can detect the lateral deviation of vehicle according to the measurement result of array of magnetic sensors.
Described array of magnetic sensors mounting guide rail comprises horizontal guide rail and upright guide rail, and by adjusting the setting height(from bottom) that horizontal guide rail can be regulated sensor array, in the middle of horizontal guide rail and the upright guide rail guide groove, material being arranged all is aluminium alloy extrusions.Article two, upright guide rail is separately fixed at front bumper the right and left of car body, and the guide groove of two upright guide rails is connected by bolt with guide groove on the horizontal guide rail.
Compared with prior art, the present invention can reach following effect: 1. increased the setting height(from bottom) of array of magnetic sensors, helped the operation of automatic driving vehicle.2. by adopting the less magnetic nail of size and using low-cost magnetoresistive transducer, reduced the cost of magnetic guide.3. horizontal guide rail and upright guide rail can be regulated the setting height(from bottom) of magnetoresistive transducer easily, help test adjustment and in the application of different places.4. adopt
With the array of magnetic sensors mode of unequal-interval, both guaranteed measuring accuracy, need not roll up magnetic resistance again and pass
The usage quantity of sensor.
Description of drawings
Fig. 1 is an embodiment of the invention structure side view
Fig. 2 is an embodiment of the invention structural front view
Embodiment
As illustrated in fig. 1 and 2, present embodiment comprises: upright guide rail 2, bolt 3, horizontal guide rail 4, pcb board 5, epoxy glue plank 6, magnetic nail 7, sensor peripheral circuit 10, magnetoresistive transducer 11.
In order to prevent that ferrimagnet from disturbing the Distribution of Magnetic Field of magnetic nail, horizontal guide rail 4, upright guide rail 2 adopt aluminum alloy materials, and screw adopts copper product, and the material of magnetic nail is a neodymium iron boron, are shaped as the cylindrical of diameter 25mm, height 25mm.
Described horizontal guide rail 4 and two described upright guide rails 2, xsect is rectangular-shaped, all respectively have a guide groove, two described upright guide rails 2 are separately fixed at front bumper 1 the right and left of car body with screw, connect the upright guide rail guide groove 8 of two upright guide rails 2 and the horizontal guide rail guide groove 9 on the horizontal guide rail 4 with bolt 3, when needing to adjust rail height and horizontal level, looser a bolt, horizontal guide rail 4 can utilize bolt 3 to move horizontally along the horizontal guide rail guide groove 9 of self, can realize the adjustment of horizontal direction position, also can utilize bolt 3 vertically to move, realize the height control of vertical direction, have reasonable dirigibility along upright guide rail guide groove 8.Epoxy glue plank 6 is fixing by brass screw and horizontal guide rail 4, pcb board 5 is installed on the epoxy glue plank 6 by brass screw respectively, all be welded with magnetoresistive transducer 11 and relevant sensor peripheral circuit 10 on the every pcb board 5, wherein be welded with 9 magnetoresistive transducers 11 on a big pcb board 5, the distance between sensor is 5cm; Respectively be welded with a magnetoresistive transducer 11 on other four little pcb boards, be installed in the both sides of middle 9 magnetoresistive transducers 11 respectively with the spacing of 15cm, 13 sensors 11 are word order with the spacing that does not wait, existing than higher measuring accuracy, do not roll up the number of magnetoresistive transducer 11 again.
Before vehicle carries out unmanned test, at first to be embedded in the road surface to the magnetic nail 7 that the source takes place as magnetic signal vertically along the vehicle target track under, apart from ground 0.5 ~ 1cm.Adjust the height of horizontal guide rail 4 then, guarantee to be installed in magnetoresistive transducer 11 arrays on the horizontal guide rail 4 apart from the height on ground about 18cm, also can require adjust to different height according to different tests.After finishing preliminary work, connect magnetoresistive transducer 11 array power supplys, magnetoresistive transducer 11 can detect the field signal of magnetic nail 7, output voltage signal, magnetoresistive transducer 11 peripheral circuits carry out filtering to signal and amplify, remove external interference and terrestrial magnetic field, obtain the measurement result of each magnetoresistive transducer, follow closely 7 nearest magnetoresistive transducer 11 output valve maximums apart from magnetic, output away from the magnetoresistive transducer 11 of magnetic nail 7 is less, by the output result sizes of each magnetoresistive transducer 11 relatively, and utilization magnetic orientation algorithm, draw the lateral deviation of vehicle, thereby realize the unmanned of vehicle with respect to target trajectory.
Claims (5)
1, a kind of magnetic guide of automatic driving vehicle comprises: magnetic nail, array of magnetic sensors and array of magnetic sensors mounting guide rail is characterized in that: described magnetic nail, take place under the source is embedded in pavement of road along the vehicle operating track as field signal; Described array of magnetic sensors, constitute by 13 sensors and correspondent peripheral circuit, pcb board and epoxy glue plank, what sensor adopted is magnetoresistive transducer, wherein 9 sensors and correspondent peripheral circuit are welded on the big pcb board, other 4 sensors and peripheral circuit separately are welded on respectively on four little pcb boards, five pcb boards all are arranged on the epoxy glue plank altogether, constitute the array of magnetic sensors structure, sensor is word order in the mode of unequal-interval, detects the lateral deviation of vehicle according to the measurement result of array of magnetic sensors; Described array of magnetic sensors mounting guide rail comprises horizontal guide rail and upright guide rail, is used to install magnetoresistive transducer, and guide groove is all arranged in the middle of horizontal guide rail and the upright guide rail.
2, the magnetic guide of automatic driving vehicle according to claim 1, it is characterized in that, described horizontal guide rail and upright guide rail, two upright guide rails are separately fixed at front bumper the right and left of car body, and the guide groove of two upright guide rails is connected by bolt with guide groove on the horizontal guide rail.
According to the magnetic guide of claim 1 or 2 described automatic driving vehicles, it is characterized in that 3, described horizontal guide rail and upright guide rail, material are aluminum alloy materials.
4, the magnetic guide of automatic driving vehicle according to claim 1 is characterized in that, described magnetic nail, and material is a neodymium iron boron, is shaped as diameter 25mm, height 25mm's is cylindrical.
5, the magnetic guide of automatic driving vehicle according to claim 1, it is characterized in that, described 13 sensors, wherein: the distance between 9 magnetoresistive transducers on the big pcb board is 5cm, 4 magnetoresistive transducers on the little pcb board divide two groups of both sides, the outside that are installed in middle 9 magnetoresistive transducers respectively with the spacing of 15cm, and such 13 sensors are word order with the spacing that does not wait.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101166245A CN100523734C (en) | 2006-09-28 | 2006-09-28 | Magnetic guiding arrangement for driverless vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101166245A CN100523734C (en) | 2006-09-28 | 2006-09-28 | Magnetic guiding arrangement for driverless vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1928499A CN1928499A (en) | 2007-03-14 |
| CN100523734C true CN100523734C (en) | 2009-08-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101166245A Expired - Fee Related CN100523734C (en) | 2006-09-28 | 2006-09-28 | Magnetic guiding arrangement for driverless vehicle |
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| Country | Link |
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| CN (1) | CN100523734C (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8190330B2 (en) * | 2009-03-06 | 2012-05-29 | GM Global Technology Operations LLC | Model based predictive control for automated lane centering/changing control systems |
| PL2360544T3 (en) * | 2010-02-19 | 2018-06-29 | 2 Getthere B.V. | System for determining the position of a vehicle, vehicle therewith, and method therefor |
| CN102385069A (en) * | 2010-08-31 | 2012-03-21 | 西门子公司 | Positioning device, system and method |
| CN102147259B (en) * | 2011-01-14 | 2012-12-12 | 南京航空航天大学 | Ring array magnetic guidance device and method for identifying guidance magnetic label thereof |
| CN102183251B (en) * | 2011-03-15 | 2014-07-09 | 上海电力学院 | Electromagnetic tracking method based on inductance coil |
| CN102680997A (en) * | 2012-05-31 | 2012-09-19 | 东南大学 | Magnetic navigation-assisted global positioning system (GPS)/inertial navigation system (INS) combined navigation positioning system and control method thereof |
| CN103292806B (en) * | 2013-05-30 | 2015-08-19 | 成都四威高科技产业园有限公司 | The magnetic navigation system of a kind of applicable AGV and air navigation aid |
| CN104155979B (en) * | 2014-07-31 | 2016-11-02 | 同济大学 | A kind of magnetic navigation intelligent vehicle positioner based on magnetic field symmetry and method |
| CN104157131B (en) * | 2014-07-31 | 2016-11-09 | 同济大学 | A kind of unmanned public transportation system of magnetic navigation |
| CN104460665A (en) * | 2014-10-13 | 2015-03-25 | 上海交通大学 | Magnetic navigation unmanned vehicle based on road curvature map and road curvature map establishment method |
| CN105043381B (en) * | 2015-06-30 | 2018-10-19 | 广东嘉腾机器人自动化有限公司 | A kind of localization method based on magnetic nail |
| CN105015521B (en) * | 2015-07-13 | 2018-05-04 | 上海交通大学 | A kind of automatic stop device of oversize vehicle based on magnetic nail |
| CN107091998A (en) * | 2016-02-18 | 2017-08-25 | 苏州青飞智能科技有限公司 | A kind of Magnetic Sensor for magnetic navigation unmanned vehicle |
| JP6733289B2 (en) * | 2016-04-28 | 2020-07-29 | 愛知製鋼株式会社 | Driving support system |
| CN106292664B (en) * | 2016-08-17 | 2019-07-12 | 国网山东省电力公司电力科学研究院 | A kind of Intelligent Mobile Robot navigation control system and method |
| JP6928306B2 (en) * | 2017-03-28 | 2021-09-01 | 愛知製鋼株式会社 | Magnetic marker construction method and work system |
| CN106814354A (en) * | 2017-03-28 | 2017-06-09 | 驭势科技（北京）有限公司 | Mobile lidar and vehicle |
| CN107703942A (en) * | 2017-10-16 | 2018-02-16 | 风神物流有限公司 | A kind of auto parts and components feed system based on unmanned tractor |
| CN107741596A (en) * | 2017-11-07 | 2018-02-27 | 浙江理工大学 | A kind of GPS/INS navigation system of magnetic nail positioning auxiliary |
| CN113581262B (en) * | 2021-07-15 | 2022-12-30 | 上海电气集团智能交通科技有限公司 | Tracking, guiding and deviation monitoring and vehicle body boundary crossing early warning method for digital track rubber-tyred vehicle |
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2006
- 2006-09-28 CN CNB2006101166245A patent/CN100523734C/en not_active Expired - Fee Related
Non-Patent Citations (2)
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| Publication number | Publication date |
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| CN1928499A (en) | 2007-03-14 |
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