CN109484217B - Three-in-one electronic highway unmanned navigation system and method - Google Patents

Three-in-one electronic highway unmanned navigation system and method Download PDF

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CN109484217B
CN109484217B CN201811522735.5A CN201811522735A CN109484217B CN 109484217 B CN109484217 B CN 109484217B CN 201811522735 A CN201811522735 A CN 201811522735A CN 109484217 B CN109484217 B CN 109484217B
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detection coil
guide rail
unmanned
wireless energy
wireless
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CN109484217A (en
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王金虎
王成亮
翟学锋
郑海雁
黄郑
王智慧
唐春森
杨庆胜
徐妍
左志平
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Chongqing University
Jiangsu Fangtian Power Technology Co Ltd
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Jiangsu Fangtian Power Technology Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a three-in-one electronic highway unmanned navigation system and a method, which are characterized in that: the unmanned vehicle is at least provided with a first detection coil and a second detection coil in bilateral symmetry, a wireless energy emission guide rail is arranged in the middle of a special driving road for the unmanned vehicle, the first detection coil and the second detection coil transmit picked energy signals to a controller, and the controller determines the offset state between the unmanned vehicle and the wireless energy emission guide rail according to the change condition of the energy signals of the two coils and corrects the driving direction so as to drive along the wireless energy emission guide rail. The remarkable effects are as follows: both usable wireless guide rail that charges as unmanned navigation guiding device, usable wireless guide rail that charges carries out the developments again to unmanned car, promotes its duration, and navigation based on wireless charging can ensure that unmanned car keeps high-efficient charged state moreover.

Description

Three-in-one electronic highway unmanned navigation system and method
Technical Field
The invention relates to an unmanned technology, in particular to a three-in-one electronic highway unmanned navigation system and a method.
Background
With the wide-range popularization of new energy automobiles, the new energy automobiles are gradually approved by consumers, and especially when the whole new energy automobile industry is still troubled by the current charging difficulty problem, the application of the wireless charging technology in the new energy automobiles at home and abroad is more and more concerned.
Particularly, for the application of the electric automobile, researchers have proposed to apply the wireless charging technology to road construction, so that the electric automobile can be dynamically charged in the road driving process, and the cruising ability of the electric automobile is improved.
However, electric vehicles do not travel on a given track as a rail car, and the travel route during travel has a large degree of freedom, which results in a large real-time deviation. When the deviation degree of the electric vehicle is within the allowable range, the electric vehicle can still work normally, but when the deviation degree is too large, the transmission capability of electric energy is reduced. Therefore, for a real-time wireless charging/power supply system without stopping the electric vehicle, the real-time condition that the vehicle deviates from the track is very important for efficient wireless power acquisition.
With the development of the unmanned technology, the unmanned vehicle has been driven on the highway, but the existing unmanned control is usually realized based on road GPS navigation and obstacle detection, and for the wireless charging road, it is necessary to assist other control means to realize accurate driving track control so that the wireless transmission efficiency is higher.
Disclosure of Invention
Aiming at the defects in the prior art, the invention firstly provides a three-in-one electronic highway unmanned navigation system, which integrates three front-edge technologies of photovoltaic power generation, unmanned driving and wireless charging to form the three-in-one electronic highway system.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the utility model provides a trinity electron highway unmanned navigation system which the key lies in: the unmanned vehicle is at least provided with a first detection coil and a second detection coil in bilateral symmetry, a wireless energy emission guide rail is arranged in the middle of a special driving road for the unmanned vehicle, the first detection coil and the second detection coil transmit picked energy signals to a controller, and the controller determines the offset state between the unmanned vehicle and the wireless energy emission guide rail according to the variation condition of the energy signals of the first detection coil and the second detection coil and corrects the driving direction of the unmanned vehicle according to the offset state so as to drive along the wireless energy emission guide rail.
Optionally, a third detection coil is further arranged on the unmanned vehicle, the second detection coil and the third detection coil are positioned on the left side and the right side of the first detection coil, and the central points of the three coils are distributed in a triangular shape;
optionally, the first detection coil, the second detection coil and the third detection coil are all connected with a conditioning circuit, each conditioning circuit is connected with a comparison circuit or a multi-path selection circuit, and the comparison circuit or the multi-path selection circuit selects one path with the strongest pick-up energy to output to the power conversion circuit and supply power to the load.
Optionally, the controller obtains the energy condition picked up by the first detection coil, the second detection coil and the third detection coil from the comparison circuit or the multi-path selection circuit through an AD sampling circuit.
Optionally, the first detection coil, the second detection coil and the third detection coil are located on the same horizontal plane, the central point of the first detection coil is set to be a point a, the central point of the second detection coil is set to be a point B, the central point of the third detection coil is set to be a point C, a triangle formed by the three points ABC is an isosceles right triangle, and two sides AB and AC are right-angle sides.
Based on the defects of the prior art, the invention also provides an unmanned navigation method for wireless charging guidance, which is characterized in that: the method comprises the steps that a first detection coil and a second detection coil are arranged on an unmanned automobile at least in a bilateral symmetry mode, a wireless energy emission guide rail is arranged in the middle of a special driving road for the unmanned automobile, the deviation state between the unmanned automobile and the wireless energy emission guide rail is determined according to the change situation of energy signals picked up by the first detection coil and the second detection coil, and the driving direction of the unmanned automobile is corrected according to the deviation state to enable the unmanned automobile to drive along the wireless energy emission guide rail.
Optionally, a third detection coil is further disposed on the unmanned vehicle, the first detection coil and the second detection coil are disposed on the left and right sides of the third detection coil, the central points of the three coils are distributed in a triangular shape, the deviation state between the unmanned vehicle and the wireless energy emission guide rail is determined by using the change condition of the energy signals picked up by the three coils of the first detection coil, the second detection coil and the third detection coil, and the driving direction of the unmanned vehicle is corrected according to the deviation state so as to drive along the wireless energy emission guide rail.
Optionally, the first detection coil, the second detection coil and the third detection coil are arranged on the same horizontal plane, the central point of the first detection coil is set as a point a, the central point of the second detection coil is set as a point B, the central point of the third detection coil is set as a point C, a triangle formed by the three points ABC is an isosceles right triangle, and two sides AB and AC are right-angled sides.
The invention has the following remarkable effects:
both usable wireless guide rail that charges as unmanned navigation guiding device, usable wireless guide rail that charges carries out the developments again to unmanned vehicle, promotes its duration, navigates based on wireless charging moreover, can ensure that unmanned vehicle keeps high-efficient charged state, utilizes localized control, and the precision of navigation correction is also higher, and the real-time is stronger.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a structural diagram of the present invention;
FIG. 2 is a schematic circuit diagram of wireless charging;
FIG. 3 is a block diagram of a system control scheme in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a two-coil position detection configuration in an exemplary embodiment;
FIG. 5 is a diagram of a first mathematical model of the two-coil symmetrical guiding scheme shown in FIG. 4;
FIG. 6 is a second mathematical model of the two-coil symmetric guidance shown in FIG. 4
FIG. 7 is a schematic diagram of the three coil position sensing in an exemplary embodiment;
FIG. 8 is a diagram of a first mathematical model of the triangular layout guide of FIG. 7;
FIG. 9 is a second mathematical model of the triangular layout guide of FIG. 7.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
Example 1:
as shown in figure 1, a three-in-one electronic highway unmanned navigation system, wherein a first detection coil and a second detection coil are symmetrically arranged on an unmanned vehicle according to the left and right, a wireless energy emission guide rail is arranged in the middle of a special driving highway for the unmanned vehicle, the wireless energy emission guide rail in the embodiment adopts sectional control, each section of the wireless energy emission guide rail is correspondingly provided with a control circuit, the front end and the rear end of each section of the wireless energy emission guide rail are respectively provided with a detection device for detecting the passing in and out of the unmanned vehicle, when the unmanned vehicle drives into the section of the guide rail, the control circuit controls the wireless energy emission guide rail to emit energy, the wireless energy can be obtained by arranging a corresponding energy pickup coil on the unmanned vehicle to charge a storage battery according to the architecture principle of a wireless energy transmission system shown in figure 2, and the wireless energy pickup coil can be dynamically charged in the driving process, thereby promoting the endurance of the unmanned automobile.
In specific implementation, the first detection coil and the second detection coil transmit the picked energy signals to the controller, the controller determines the offset state between the unmanned automobile and the wireless energy emission guide rail according to the energy signal change conditions of the first detection coil and the second detection coil, and corrects the driving direction of the unmanned automobile according to the offset state so as to drive the unmanned automobile along the wireless energy emission guide rail.
Example 2:
as shown in fig. 3, a third detection coil is further disposed on the unmanned vehicle, the second detection coil and the third detection coil are located on the left and right sides of the first detection coil, and the central points of the three coils are distributed in a triangular shape;
as can be seen from fig. 3, the first detection coil, the second detection coil and the third detection coil are all connected with a conditioning circuit, each conditioning circuit is connected with a comparison circuit or a multi-path selection circuit, and the comparison circuit or the multi-path selection circuit selects one path with the strongest pick-up energy to output to the power conversion circuit and supply power to the load.
In specific implementation, the controller acquires the energy condition picked up by the first detection coil, the second detection coil and the third detection coil from the comparison circuit or the multi-path selection circuit through the AD sampling circuit.
Preferably, the first detection coil, the second detection coil and the third detection coil are located on the same horizontal plane, the central point of the first detection coil is a point A, the central point of the second detection coil is a point B, the central point of the third detection coil is a point C, a triangle formed by the three points ABC is an isosceles right triangle, and two sides AB and AC are right-angle sides.
According to the system, the first detection coil and the second detection coil are at least arranged on the unmanned vehicle in a bilateral symmetry mode, the wireless energy emission guide rail is arranged in the middle of the special driving road for the unmanned vehicle, the offset state between the unmanned vehicle and the wireless energy emission guide rail is determined according to the change situation of the energy signals picked up by the first detection coil and the second detection coil, and the driving direction of the unmanned vehicle is corrected according to the offset state so that the unmanned vehicle can drive along the wireless energy emission guide rail.
In order to achieve more accurate navigation, the third detection coil is arranged on the unmanned automobile, and the position detection of the unmanned automobile is more accurate by utilizing the triangulation positioning principle.
The magnetic field around the electrified lead of the wireless energy transmitting guide rail adopted by the system is a vector field, if an induction coil is arranged around the electrified straight lead, the vector of the magnetic field can be induced, and the strength and the direction of the magnetic field can be further obtained. When the current in the wire changes according to a certain rule, the magnetic field around the wire also changes, and the coil generates a certain induced electromotive force.
As the single coil guiding mode can only describe the movement of one point, the real-time state of the trolley cannot be determined, an induction coil is added, the induction coil is distributed on the left and right of the guide rail metal wire and symmetrically guided and positioned, and as shown in figure 4, the guide rail metal wire is loaded with high-frequency alternating current IpA, B two position detection coils are symmetrically distributed on the left side and the right side of the h horizontal high position right above the guide rail, respectively sense and detect respective induced electromotive force, and the deviation direction of the vehicle can be obtained by analyzing the change condition of the induced electromotive force of each coil, so that the vehicle can be corrected immediately.
However, in the case of detecting the position of the two coils, when the induced electromotive forces of the two induction coils are equal in magnitude, there are two states as follows. Then, the two states are analyzed separately.
State one
In the two-coil symmetrical guidance mode, the coils of the guidance mechanism are projected onto the ground by taking the guide rail metal wire as a Y axis, and a rectangular coordinate system shown in fig. 5 is established by taking a left coil perpendicular to the guide rail metal wire and taking a right coil as an X axis, wherein A, B is an induction coil, the distance between the induction coils is a, and C is the axial midpoint of A, B two coils. A. And B, the two coils are on the same axis, and the two coils are regarded as rigid bodies, so that the sizes of theta 1 and theta 2 are equal to the size of the forward angle deviation theta.
The magnitude of the induced electromotive force on the coils a and B can be obtained as follows:
Figure GDA0002710364820000061
the peak voltage of the induced electromotive force with positive time in equation (2) is obtained:
Figure GDA0002710364820000062
wherein k is NSh mu0μrf0I0。
From the coordinate positions of fig. 5, it can be seen that:
Figure GDA0002710364820000063
the conjunctive formula (2) and (3) yields the following solutions:
Figure GDA0002710364820000071
further, the position deviation state of the guiding mechanism is obtained, namely the distance x between the point C and the guiding metal wire and the forward angle deviation theta are respectively as follows:
Figure GDA0002710364820000072
wherein
Figure GDA0002710364820000073
State two
In the case shown in fig. 6, the magnitude of the induced electromotive forces in the a 'and B' induction coils are the same as the state shown in fig. 5, and the modeling analysis is performed by the same method as described above.
To solve the distance x ' between the guide wires at the point C ' and the forward angle deviation θ ' are respectively:
Figure GDA0002710364820000074
wherein
Figure GDA0002710364820000075
As can be seen from comparison between equation (5) and equation (6), the difference between the two different positions is that the sign of the forward angular deviation θ is different, indicating that the forward direction is different between the two positions. Due to the absence of a decision signal of the sign of the forward angle deviation θ, it is difficult for the controller to directly distinguish between these two states for pilot control.
Through the analysis and calculation, although an induction coil is added on the basis of a single-coil guiding mode in the two-coil symmetrical guiding mode, the value of one path of induced electromotive force is added, the extraction of the relative path information is relatively complete, and the state equation of the position deviation between the guiding and positioning mechanism and the guide rail metal wire is relatively easy to know, the two paths of induced electromotive forces obtained on the two induction coils cannot be judged according to the sign of the opposite angle deviation, two different position deviation states shown in fig. 5 and 6 cannot be distinguished, a controller still has no way to know the exact current state, the deviation state is adjusted, the problem that the obtained detection signals are too few exists, and accurate guiding and positioning cannot be realized.
Aiming at the problems existing in double-coil positioning, the invention provides a three-coil positioning model shown in fig. 7, wherein a guide rail metal wire is loaded with a high-frequency alternating current IP, an induction coil C is arranged right above a guide rail at a h-level high position, two induction coils A and B are symmetrically distributed on the left side and the right side, three induction coils are used for inducing and detecting position signals, and the three induction coils are distributed in an isosceles right triangle shape, wherein A is a vertex. The waist length AC is a, where the apex angle a is a right angle. x1, x2, and x3 are the distances between the induction coils A, B and C, respectively, to the rail wires.
Obtaining a model diagram shown in fig. 7 according to a spatial structure model in an isosceles right triangle layout, and establishing a two-dimensional coordinate model shown in fig. 8, where a is a triangle waist length AB, θ is a forward angle of a triangle positioning system, AD and BG are central lines of BC and AC, respectively, and an intersection point O' of BC and AC is a gravity center of the triangle. The geometric characteristics of an isosceles right triangle result in that DBAE is equal to the forward angle theta.
The expressions of the induced electromotive forces of the A, B and the C three induction coils can be obtained through analysis as follows:
Figure GDA0002710364820000081
the solving formula of the forward angle deviation theta is as follows:
Figure GDA0002710364820000082
the following solutions can be obtained by the coupling of the two types (7) and (8):
Figure GDA0002710364820000083
wherein the content of the first and second substances,
Figure GDA0002710364820000091
the offset state of the state-one-time triangular guide mechanism can be obtained according to the offset displacement of the point C and the analytic geometry:
Figure GDA0002710364820000092
similarly, a model diagram shown in fig. 7 is obtained according to a spatial structure model of an isosceles right triangle layout, and a two-dimensional coordinate model shown in fig. 9 is established, where a is a triangle waist length AB, θ is a forward angle of the triangle positioning system, AD and BG are central lines of BC and AC, respectively, and an intersection point o' of BC and AC is a gravity center of the triangle. The geometric characteristics of an isosceles right triangle result in that DBAE is equal to the forward angle theta.
The state of the offset state of the triangular guide mechanism can be obtained according to the offset displacement of the point C and by combining the analytic geometry:
Figure GDA0002710364820000093
as can be seen from equations (10) and (11), the offset displacement of the triangular guide mechanism obtained in the two different states is related to the induced electromotive forces of the three induction coils, and the offset displacements in the two states are different. The forward angle deviations are equal in size and opposite in sign, so that the two different deviation states can be distinguished, and the two states cannot be distinguished when only two coils are arranged, which proves that the guiding mechanism can be accurately positioned when an induction coil is added and is in a triangular layout, and the three coils are the smallest guiding and positioning mechanism capable of accurately positioning.
In conclusion, the problem that the wireless energy emission guide rail is difficult to accurately align when the unmanned automobile is used in a wireless charging road system is solved, and on one hand, the unmanned automobile can be powered by energy picked up by the detection coils by arranging at least two detection coils, so that the cruising ability of the unmanned automobile is improved; on the other hand, the energy change condition picked up by the detection coils can be combined to judge whether the unmanned automobile is positioned right above the wireless charging guide rail, so that the maximum efficiency transmission of wireless energy is ensured, and navigation guidance is provided for the unmanned automobile.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; these modifications and substitutions do not cause the essence of the corresponding technical solution to depart from the scope of the technical solution of the embodiments of the present invention, and are intended to be covered by the claims and the specification of the present invention.

Claims (3)

1. The utility model provides a trinity electron highway unmanned navigation system which characterized in that: the unmanned automobile is provided with a first detection coil, a second detection coil and a third detection coil, wherein the second detection coil and the third detection coil are positioned on the left side and the right side of the first detection coil, and the central points of the three coils are distributed in a triangular shape; a wireless energy emission guide rail is arranged in the middle of a special driving road for the unmanned automobile, the first detection coil, the second detection coil and the third detection coil transmit the picked energy signals to a controller, the controller determines the offset state between the unmanned automobile and the wireless energy emission guide rail according to the energy signal change conditions of the first detection coil, the second detection coil and the third detection coil, and corrects the driving direction of the unmanned automobile according to the offset state so that the unmanned automobile can drive along the wireless energy emission guide rail;
the first detection coil, the second detection coil and the third detection coil are all connected with conditioning circuits, each conditioning circuit is connected with a comparison circuit or a multi-path selection circuit, and the comparison circuit or the multi-path selection circuit selects one path with the strongest pick-up energy to output to the power conversion circuit and supply power to the load;
the wireless energy emission guide rail is a single straight wire controlled in a sectional mode, a control circuit is correspondingly arranged on each section of wireless energy emission guide rail, detection devices used for detecting the entrance and the exit of the unmanned automobile are further respectively arranged at the front end and the rear end of each section of wireless energy emission guide rail, and when the unmanned automobile drives into each section of guide rail, the control circuit controls the unmanned automobile to emit energy.
2. The three-in-one electronic highway unmanned navigation system of claim 1, characterized in that: the controller acquires the energy condition picked up by the first detection coil, the second detection coil and the third detection coil from the comparison circuit or the multi-path selection circuit through the AD sampling circuit.
3. The three-in-one electronic highway unmanned navigation system of claim 1, characterized in that: first detection coil, second detection coil and third detection coil are located same horizontal plane, and the central point that sets up first detection coil is A point, and the central point of second detection coil is B point, and the central point of third detection coil is C point, and the triangle that ABC three point is constituteed is isosceles right triangle, and two limits of AB, AC are the right angle limit.
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