CN114806321A - Ground marking induction coating paint for unmanned vehicle, preparation method thereof and magnetic navigation tracking method - Google Patents

Ground marking induction coating paint for unmanned vehicle, preparation method thereof and magnetic navigation tracking method Download PDF

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Publication number
CN114806321A
CN114806321A CN202210563896.9A CN202210563896A CN114806321A CN 114806321 A CN114806321 A CN 114806321A CN 202210563896 A CN202210563896 A CN 202210563896A CN 114806321 A CN114806321 A CN 114806321A
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weight
parts
meshes
stirring
fine powder
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Inventor
杜利民
杨小东
陈平定
高伟
王俊
雷振华
梁荣天
刘晶晶
王茜
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Shanxi Changda Traffic Facilities Co ltd
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Shanxi Changda Traffic Facilities Co ltd
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    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D157/00—Coating compositions based on unspecified polymers obtained by reactions only involving carbon-to-carbon unsaturated bonds
    • C09D157/02—Copolymers of mineral oil hydrocarbons
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
    • C09D5/23—Magnetisable or magnetic paints or lacquers
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D7/00—Features of coating compositions, not provided for in group C09D5/00; Processes for incorporating ingredients in coating compositions
    • C09D7/40—Additives
    • C09D7/60—Additives non-macromolecular
    • C09D7/61—Additives non-macromolecular inorganic
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D7/00—Features of coating compositions, not provided for in group C09D5/00; Processes for incorporating ingredients in coating compositions
    • C09D7/40—Additives
    • C09D7/70—Additives characterised by shape, e.g. fibres, flakes or microspheres
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K3/00—Use of inorganic substances as compounding ingredients
    • C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
    • C08K3/20—Oxides; Hydroxides
    • C08K3/22—Oxides; Hydroxides of metals
    • C08K2003/2237—Oxides; Hydroxides of metals of titanium
    • C08K2003/2241—Titanium dioxide
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K3/00—Use of inorganic substances as compounding ingredients
    • C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
    • C08K3/24—Acids; Salts thereof
    • C08K3/26—Carbonates; Bicarbonates
    • C08K2003/265—Calcium, strontium or barium carbonate
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K2201/00—Specific properties of additives
    • C08K2201/01—Magnetic additives

Abstract

A ground marking induction coating paint for an unmanned vehicle, a preparation method thereof and a magnetic navigation tracking method belong to the technical field of road engineering. The road traffic marking prepared by the coating paint disclosed by the invention can generate a magnetic field by itself, can replace a magnetic nail, meets the positioning requirement of the magnetic navigation unmanned vehicle, solves the problem caused by low vehicle speed of the magnetic navigation unmanned vehicle in an urban environment application scene, improves the transverse deviation data refreshing frequency, and meets the requirement of a controller on the adoption rate. Simultaneously, the work load that brings is laid alone to the magnetism reduction nail that can effectual reduction, provides a new thinking for the development of magnetic navigation unmanned vehicle simultaneously. Compared with the prior art, the invention has the advantages of pressure resistance, wear resistance, pollution resistance, convenient construction spraying and the like.

Description

Ground marking induction coating paint for unmanned vehicle, preparation method thereof and magnetic navigation tracking method
The application is a divisional application with the application date of 2020, 12 and 17, the application number of 202011503500.9, and the invention name of 'a ground marking induction coating paint for unmanned vehicles and a preparation process thereof'.
Technical Field
The invention belongs to the technical field of road engineering, and particularly relates to a ground marking induction coating paint for an unmanned vehicle, a preparation method thereof and a magnetic navigation tracking method.
Background
With the completion or continuous deepening of urbanization processes of countries in the world, the number of urban motor vehicles is continuously increased, and the accompanying problems of urban traffic jam, frequent traffic accidents, automobile exhaust pollution and the like become key problems restricting the development of urban civilization. Among all these problems, the development of unmanned vehicles has wide prospects due to the immediacy and uncontrollable nature of people in vehicle driving systems. In the development process of the unmanned vehicle, the magnetic navigation unmanned vehicle technology is applied in practice due to the obvious advantages in reliability and wide application prospect, and the research of the magnetic navigation technology is particularly emphasized in the starting stage of the global unmanned vehicle research.
Magnetic navigation is essentially a location technology based on road signs, and generally adopts the steps of laying magnetic nails or magnetic tapes or electrified leads on a road surface to generate a magnetic field or an electric field, and relying on magnetic and electric field detection sensors on a vehicle to realize the location of the vehicle. The magnetic nails and magnetic sensors are used for vehicle positioning rather than directly for control. Since the magnetic spikes are typically laid at intervals, the information refresh frequency of the lateral deviation is related to the vehicle speed. Under the environment of an expressway, the speed of the automobile is high, the refreshing frequency is high, and the requirement of a controller on the utilization rate can be met. However, in an urban environment application scenario, the vehicle speed is generally low, so that the refresh frequency of the lateral deviation data is low, and the control requirement is difficult to meet. In addition, the magnetic nails need to be laid separately, so that the labor intensity of workers is increased, and the cost is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a ground marking induction coating paint for an unmanned vehicle, a preparation method thereof and a magnetic navigation tracking method, and solves the technical problems that the existing ground marking for the unmanned vehicle cannot meet the control requirement, is high in laying labor intensity, is high in cost and the like.
In order to solve the problems, the technical scheme of the invention is as follows: the ground marking induction coating paint for the unmanned vehicle is prepared from 10-20 parts by weight of resin, 2-5 parts by weight of pigment, 25-40 parts by weight of calcium carbonate, 10-20 parts by weight of quartz sand, 2-4 parts by weight of paraffin, 15-20 parts by weight of glass microspheres, 1.5-2 parts by weight of dioctyl ester, 1-1.5 parts by weight of EVA hot melt adhesive and 10-40 parts by weight of magnet powder;
the magnet powder is neodymium iron boron magnet powder, and the particle size of the neodymium iron boron magnet powder is 300-400 meshes;
the granularity of the quartz sand is 40-80 meshes;
the calcium carbonate is heavy calcium carbonate, and the granularity of the heavy calcium carbonate is 300-500 meshes;
the resin is petroleum resin which comprises C5 aliphatic or C9 aromatic hydrocarbon;
the pigment is one of titanium dioxide and chrome yellow;
the viscosity of the ground marking induction coating is 500-700 cps;
the preparation method of the ground marking induction coating paint for the unmanned vehicle comprises the following steps:
1) pulverizing neodymium iron boron magnet powder into fine powder of 300-400 meshes, pulverizing quartz sand into fine powder of 40-80 meshes, and pulverizing calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding a pigment, calcium carbonate fine powder with the granularity of 300-500 meshes, quartz sand fine powder with the granularity of 40-80 meshes, paraffin, glass beads, EVA hot melt adhesive and neodymium iron boron magnet fine powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding the resin and the dioctyl ester into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle.
The invention also provides a preparation process of the ground marking induction coating paint for the unmanned vehicle, which comprises the following steps:
1) pulverizing neodymium iron boron magnet powder into fine powder of 300-400 meshes, pulverizing quartz sand into fine powder of 40-80 meshes, and pulverizing calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding a pigment, calcium carbonate fine powder with the granularity of 300-500 meshes, quartz sand fine powder with the granularity of 40-80 meshes, paraffin, glass beads, EVA hot melt adhesive and neodymium iron boron magnet fine powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 10-20 parts by weight of resin and 1.5-2 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle.
The invention also provides a method for magnetic navigation tracking by using the ground mark induction coating paint in the scheme or the ground mark induction coating paint prepared by the preparation method in the scheme, which comprises the following steps:
let X vk 0 vk Y vk Vehicle coordinate system at time kT, X v,k+1 0 v,k+1 Y v,k+1 For the vehicle coordinate system at time (k +1) T, assuming that the front wheel steering angle of the vehicle is constant and the vehicle travels along the arc during the period from kT to (k +1) T, the steering angle is θ k From the coordinate system X vk 0 vk Y vk To the coordinate system X v,k+1 0 v,k+1 Y v,k+1 Follows the dead reckoning equation (Δ S) k ，Δθ k ) T is system input obtained by a dead reckoning sensor;
when the magnetic scale detects a road traffic marking, the equation for the road traffic marking
Figure BDA0003657042620000031
Tracking under a vehicle coordinate system;
repeating the tracking on each road traffic marking line detected by the magnetic scale to obtain the coordinates of a plurality of road traffic marking lines passing through the magnetic scale recently in the current vehicle coordinate system;
the dead reckoning sensor is an odometer and an inertial navigation sensor or an odometer and a steering wheel encoder;
theta in counterclockwise rotation k Is positive, when rotating clockwise, the theta is k Is negative.
In the invention, when the magnetic scale detects a road traffic marking, the coordinates of the road traffic marking in the current vehicle coordinate system can be known because the installation position of the magnetic scale is known.
By adopting the technical scheme, the invention can be sprayed as white dotted lines, solid lines or yellow dotted lines and solid lines of the road traffic marking, has the functions of common road traffic markings, and also has the advantages of pressure resistance, wear resistance, pollution resistance and the like.
The road traffic marking line disclosed by the invention can generate a magnetic field by itself, can replace a magnetic nail, meets the positioning requirement of the magnetic navigation unmanned vehicle, solves the problem caused by low vehicle speed of the magnetic navigation unmanned vehicle in an urban environment application scene, improves the transverse deviation data refreshing frequency, and meets the requirement of a controller on the utilization rate. Simultaneously, the work load that brings is laid alone to the magnetism reduction nail that can effectual reduction, provides a new thinking for the development of magnetic navigation unmanned vehicle simultaneously.
Compared with the prior art, the invention has the advantages of pressure resistance, wear resistance, pollution resistance, convenient construction spraying and the like.
Detailed Description
The present invention will be described in further detail with reference to examples.
The first embodiment is as follows:
a geodesic induction coating for unmanned vehicles, wherein: the ground marking induction coating paint is prepared from 10 parts by weight of C9 aromatic hydrocarbon, 2 parts by weight of titanium dioxide, 25 parts by weight of heavy calcium carbonate, 10 parts by weight of quartz sand, 2 parts by weight of paraffin, 15 parts by weight of glass micro-beads, 1.5 parts by weight of dioctyl ester, 1 part by weight of EVA hot melt adhesive and 10 parts by weight of neodymium iron boron magnet powder.
The particle size of the neodymium iron boron magnet powder is 300-400 meshes. The granularity of the quartz sand is 40-80 meshes. The granularity of the heavy calcium carbonate is 300-500 meshes. The viscosity of the ground marking induction coating is 500-700 cps.
A preparation process of a ground marking induction coating for an unmanned vehicle comprises the following steps:
1) crushing neodymium iron boron magnet into fine powder of 300-400 meshes, crushing quartz sand into fine powder of 40-80 meshes, and crushing ground calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding 2 parts by weight of titanium dioxide, 25 parts by weight of ground limestone with the granularity of 300-500 meshes, 10 parts by weight of quartz sand with the granularity of 40-80 meshes, 2 parts by weight of paraffin, 15 parts by weight of glass beads, 1 part by weight of EVA hot melt adhesive and 10 parts by weight of neodymium iron boron magnet powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 10 parts by weight of C9 aromatic hydrocarbon and 1.5 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirring material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirring material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle;
the induction coating for the ground marking line for the unmanned vehicle is sprayed on a road to be constructed by a high-pressure airless sprayer according to operation rules.
Example two:
a geodesic induction coating for unmanned vehicles, wherein: the ground marking induction coating paint is prepared from 20 parts by weight of C9 aromatic hydrocarbon, 5 parts by weight of titanium dioxide, 40 parts by weight of heavy calcium carbonate, 20 parts by weight of quartz sand, 4 parts by weight of paraffin, 20 parts by weight of glass micro-beads, 2 parts by weight of dioctyl ester, 1.5 parts by weight of EVA hot-melt adhesive and 40 parts by weight of neodymium iron boron magnet powder.
The particle size of the neodymium iron boron magnet powder is 300-400 meshes. The granularity of the quartz sand is 40-80 meshes. The granularity of the heavy calcium carbonate is 300-500 meshes. The viscosity of the ground mark sensing coating is 500-700 cps.
A preparation process of a ground marking induction coating for an unmanned vehicle comprises the following steps:
1) crushing neodymium iron boron magnet into fine powder of 300-400 meshes, crushing quartz sand into fine powder of 40-80 meshes, and crushing ground calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding 5 parts by weight of titanium dioxide, 40 parts by weight of heavy calcium carbonate with the granularity of 300-500 meshes, 20 parts by weight of quartz sand with the granularity of 40-80 meshes, 4 parts by weight of paraffin, 20 parts by weight of glass beads, 1.5 parts by weight of EVA hot melt adhesive and 40 parts by weight of neodymium iron boron magnet powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 20 parts by weight of C9 aromatic hydrocarbon and 2 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle;
the induction coating for the ground marking line for the unmanned vehicle is sprayed on a road to be constructed by a high-pressure airless sprayer according to operation rules.
Example three:
a geodesic induction coating for unmanned vehicles, wherein: the ground marking induction coating paint is prepared from 13 parts by weight of C9 aromatic hydrocarbon, 3 parts by weight of titanium dioxide, 30 parts by weight of heavy calcium carbonate, 13 parts by weight of quartz sand, 3 parts by weight of paraffin, 16 parts by weight of glass micro-beads, 1.8 parts by weight of dioctyl ester, 1.3 parts by weight of EVA hot melt adhesive and 20 parts by weight of neodymium iron boron magnet powder.
The particle size of the neodymium iron boron magnet powder is 300-400 meshes. The granularity of the quartz sand is 40-80 meshes. The granularity of the heavy calcium carbonate is 300-500 meshes. The viscosity of the ground marking induction coating is 500-700 cps.
A preparation process of a ground marking induction coating for an unmanned vehicle comprises the following steps:
1) crushing neodymium iron boron magnet into fine powder of 300-400 meshes, crushing quartz sand into fine powder of 40-80 meshes, and crushing ground calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding 3 parts by weight of titanium dioxide, 30 parts by weight of heavy calcium carbonate with the granularity of 300-500 meshes, 13 parts by weight of quartz sand with the granularity of 40-80 meshes, 3 parts by weight of paraffin, 16 parts by weight of glass beads, 1.3 parts by weight of EVA hot melt adhesive and 20 parts by weight of neodymium iron boron magnet powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 13 parts by weight of C9 aromatic hydrocarbon and 1.8 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle;
the induction coating for the ground marking line for the unmanned vehicle is sprayed on a road to be constructed by a high-pressure airless sprayer according to operation rules.
Example four:
a geodesic induction coating for unmanned vehicles, wherein: the ground marking induction coating paint is prepared from 16 parts by weight of C9 aromatic hydrocarbon, 3 parts by weight of titanium dioxide, 35 parts by weight of heavy calcium carbonate, 16 parts by weight of quartz sand, 2 parts by weight of paraffin, 18 parts by weight of glass micro-beads, 1.9 parts by weight of dioctyl ester, 1.4 parts by weight of EVA hot melt adhesive and 30 parts by weight of neodymium iron boron magnet powder.
The particle size of the neodymium iron boron magnet powder is 300-400 meshes. The granularity of the quartz sand is 40-80 meshes. The granularity of the heavy calcium carbonate is 300-500 meshes. The viscosity of the ground marking induction coating is 500-700 cps.
A preparation process of a ground marking induction coating for an unmanned vehicle comprises the following steps:
1) crushing neodymium iron boron magnet into fine powder of 300-400 meshes, crushing quartz sand into fine powder of 40-80 meshes, and crushing ground calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding 3 parts by weight of titanium dioxide, 35 parts by weight of ground limestone with the granularity of 300-500 meshes, 16 parts by weight of quartz sand with the granularity of 40-80 meshes, 2 parts by weight of paraffin, 18 parts by weight of glass beads, 1.4 parts by weight of EVA hot melt adhesive and 30 parts by weight of neodymium iron boron magnet powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 16 parts by weight of C9 aromatic hydrocarbon and 1.9 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle;
the induction coating for the ground marking line for the unmanned vehicle is sprayed on a road to be constructed by a high-pressure airless sprayer according to operation rules.
Example five:
a geodesic induction coating for unmanned vehicles, wherein: the ground marking induction coating paint is prepared from 10 parts by weight of C9 aromatic hydrocarbon, 2 parts by weight of chrome yellow, 25 parts by weight of heavy calcium carbonate, 10 parts by weight of quartz sand, 2 parts by weight of paraffin, 15 parts by weight of glass micro-beads, 1.5 parts by weight of dioctyl ester, 1 part by weight of EVA hot melt adhesive and 10 parts by weight of neodymium iron boron magnet powder.
The particle size of the neodymium iron boron magnet powder is 300-400 meshes. The granularity of the quartz sand is 40-80 meshes. The granularity of the heavy calcium carbonate is 300-500 meshes. The viscosity of the ground marking induction coating is 500-700 cps.
A preparation process of a ground marking induction coating for an unmanned vehicle comprises the following steps:
1) crushing neodymium iron boron magnet into fine powder of 300-400 meshes, crushing quartz sand into fine powder of 40-80 meshes, and crushing ground calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding 2 parts by weight of titanium dioxide, 25 parts by weight of ground limestone with the granularity of 300-500 meshes, 10 parts by weight of quartz sand with the granularity of 40-80 meshes, 2 parts by weight of paraffin, 15 parts by weight of glass beads, 1 part by weight of EVA hot melt adhesive and 10 parts by weight of neodymium iron boron magnet powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 10 parts by weight of C9 aromatic hydrocarbon and 1.5 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle;
the induction coating for the ground marking line for the unmanned vehicle is sprayed on a road to be constructed by a high-pressure airless sprayer according to operation rules.
Example six:
a geodesic induction coating for unmanned vehicles, wherein: the ground marking induction coating paint is prepared from 20 parts by weight of C9 aromatic hydrocarbon, 5 parts by weight of chrome yellow, 40 parts by weight of heavy calcium carbonate, 20 parts by weight of quartz sand, 4 parts by weight of paraffin, 20 parts by weight of glass micro-beads, 2 parts by weight of dioctyl ester, 1.5 parts by weight of EVA hot melt adhesive and 40 parts by weight of neodymium iron boron magnet powder.
The particle size of the neodymium iron boron magnet powder is 300-400 meshes. The granularity of the quartz sand is 40-80 meshes. The granularity of the heavy calcium carbonate is 300-500 meshes. The viscosity of the ground marking induction coating is 500-700 cps.
A preparation process of a ground marking induction coating for an unmanned vehicle comprises the following steps:
1) crushing neodymium iron boron magnet into fine powder of 300-400 meshes, crushing quartz sand into fine powder of 40-80 meshes, and crushing ground calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding 5 parts by weight of titanium dioxide, 40 parts by weight of ground calcium carbonate with the granularity of 300-500 meshes, 20 parts by weight of quartz sand with the granularity of 40-80 meshes, 4 parts by weight of paraffin, 20 parts by weight of glass beads, 1.5 parts by weight of EVA hot melt adhesive and 40 parts by weight of neodymium iron boron magnet powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 20 parts by weight of C9 aromatic hydrocarbon and 2 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle;
the induction coating for the ground marking line for the unmanned vehicle is sprayed on a road to be constructed by a high-pressure airless sprayer according to operation rules.
Although the above embodiments have been described in detail, they are only a part of the embodiments of the present invention, not all of the embodiments, and other embodiments can be obtained without inventive step according to the embodiments, and all of the embodiments belong to the protection scope of the present invention.

Claims (3)

1. The ground marking induction coating paint for the unmanned vehicle is characterized by being prepared from 10-20 parts by weight of resin, 2-5 parts by weight of pigment, 25-40 parts by weight of calcium carbonate, 10-20 parts by weight of quartz sand, 2-4 parts by weight of paraffin, 15-20 parts by weight of glass microspheres, 1.5-2 parts by weight of dioctyl ester, 1-1.5 parts by weight of EVA hot melt adhesive and 10-40 parts by weight of magnet powder;
the magnet powder is neodymium iron boron magnet powder, and the particle size of the neodymium iron boron magnet powder is 300-400 meshes;
the granularity of the quartz sand is 40-80 meshes;
the calcium carbonate is heavy calcium carbonate, and the granularity of the heavy calcium carbonate is 300-500 meshes;
the resin is petroleum resin which comprises C5 aliphatic or C9 aromatic hydrocarbon;
the pigment is one of titanium dioxide and chrome yellow;
the viscosity of the ground marking induction coating is 500-700 cps;
the preparation method of the ground marking line induction coating paint for the unmanned vehicle comprises the following steps:
1) pulverizing neodymium iron boron magnet powder into fine powder of 300-400 meshes, pulverizing quartz sand into fine powder of 40-80 meshes, and pulverizing calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding a pigment, calcium carbonate fine powder with the granularity of 300-500 meshes, quartz sand fine powder with the granularity of 40-80 meshes, paraffin, glass beads, EVA hot melt adhesive and neodymium iron boron magnet fine powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding the resin and the dioctyl ester into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle.
2. The method of preparing a ground marking inductive coating for an unmanned vehicle of claim 1, comprising the steps of:
1) pulverizing neodymium iron boron magnet powder into fine powder of 300-400 meshes, pulverizing quartz sand into fine powder of 40-80 meshes, and pulverizing calcium carbonate into fine powder of 300-500 meshes;
2) sequentially adding a pigment, calcium carbonate fine powder with the granularity of 300-500 meshes, quartz sand fine powder with the granularity of 40-80 meshes, paraffin, glass beads, EVA hot melt adhesive and neodymium iron boron magnet fine powder with the granularity of 300-400 meshes into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a first raw material;
3) adding 10-20 parts by weight of resin and 1.5-2 parts by weight of dioctyl phthalate into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a second raw material;
4) adding the raw material I prepared in the step 2) and the raw material II prepared in the step 3) into a stirrer, stirring for 20-30 minutes at normal temperature, and uniformly stirring to obtain a stirred material;
5) pouring the stirred material prepared in the step 4) into a charging basket of a hot-melt spraying marking vehicle, continuously stirring at 160-200 ℃ to melt and uniformly mix the stirred material, stabilizing the temperature to 190 ℃ and keeping the temperature for more than five minutes to obtain the ground marking induction coating for the unmanned vehicle.
3. The method for magnetic navigation tracking by using the ground marking induction coating paint of claim 1 or the ground marking induction coating paint prepared by the preparation method of claim 2 comprises the following steps:
let X vk 0 vk Y vk Vehicle coordinate system at time kT, X v,k+1 0 v,k+1 Y v,k+1 For the vehicle coordinate system at time (k +1) T, assuming that the front wheel steering angle of the vehicle is constant and the vehicle travels along the arc during the period from kT to (k +1) T, the steering angle is θ k From the coordinate system X vk 0 vk Y vk To the coordinate system X v,k+1 0 v,k+1 Y v,k+1 Follows the dead reckoning equation (Δ S) k ，Δθ k ) T is system input obtained by a dead reckoning sensor;
when the magnetic scale detects a road traffic marking, the equation for the road traffic marking
Figure FDA0003657042610000021
Tracking under a vehicle coordinate system;
repeating the tracking on each road traffic marking line detected by the magnetic scale to obtain the coordinates of a plurality of road traffic marking lines passing through the magnetic scale recently in the current vehicle coordinate system;
the dead reckoning sensor is an odometer and an inertial navigation sensor or an odometer and a steering wheel encoder;
theta in counterclockwise rotation k Is positive, and thetak is negative when rotated clockwise.
CN202210563896.9A 2020-12-17 2020-12-17 Ground marking induction coating paint for unmanned vehicle, preparation method thereof and magnetic navigation tracking method Pending CN114806321A (en)

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