Magnetic guiding arrangement for driverless vehicle

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 [0001] The invention relates to a device in the technical field of electromechanical control, in particular to a magnetic guidance device for an unmanned vehicle. Background technique [0002] Unmanned vehicles, also known as smart cars, are an important application of outdoor wheeled mobile robots in the field of transportation. It uses on-board sensors, such as vision, laser radar, ultrasonic sensor, microwave radar, GPS, odometer, magnetic compass, etc., to perceive the surrounding environment of the vehicle, and control the vehicle's movement according to the road, vehicle pose and obstacle information obtained by perception. Steering and speed, so as to ensure that the vehicle can travel safely and reliably on the road. Navigation is the core technology of unmanned vehicles. At present, more mature navigation methods include inertial navigation, visual navigation, laser navigation, GPS navigation and magnetic navigation, etc. However, inertial navigatio...

AI Technical Summary

Problems solved by technology

[0003] At present, the existing magnetic guidance devices at home and abroad have the following problems: 1. The installation height is too low: In the magnetic navigation system of unmanned vehicles, the magnetic resistance sensor is generally installed at the front bumper of the vehicle, and the sensor that is too low The installation height will cause the vehicle to collide with the ground during operation, destroying the magnetic guidance device

2. Expensive: In order to increase the installation height of the magnetoresistive sensor, most of them use increased magnetic nail size or expensive magnetoresistive sensor, which greatly increases the cost of the magnetic guidance device

3. The measurement accuracy is not high: most of them use three or five sensors arranged in a row to form a sensor array for vehicle lateral deviation measurement. Due to the large distance between sensors, the measurement accuracy is not high

4. Poor sensitivity: Hall sensor or coil induction magnetoresistive sensor is not sensitive to weak magnetic field

[0004] Found through literature retrieval to prior art, Wang Chunyan et al published "the development of intelligent road sensor for magnetic track nail navigation" on "traffic and computer" (2002, volume 20, phase 3, page 10-13), in which it is proposed A road lane keeping magnetic induction device, the device is composed of five electromagnetic coil sensors, and the five sensors are installed in a straight line under the front bumper of the vehicle. The deviation measurement accuracy is not high enough, the sensitivity of the electromagnetic resistance sensor is relatively low, and a large-sized magnetic track nail is required as a magnetic signal source

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