Vehicle positioning system and use method thereof

Abstract

The invention provides a vehicle positioning system and a using method thereof, and relates to the field of vehicle positioning, the vehicle positioning system comprises a running vehicle, a detection circuit, a Hall element circuit and an RFID module circuit, an element table is arranged at the front end in the running vehicle, and a control system box is fixedly arranged on one side in the element table; and a detachable function plate is arranged at the center position in the element table. According to the invention, the Hall array triggered by the magnet can realize accurate acquisition from a target position, the precision is less than + / -10cm away from the target position, the RFID equipment is adopted to rapidly scan the electronic tag, complete reading of the preset electronic tag can be realized, reliable reading of the position number can be realized, in addition, modification and erasing can be carried out from a software code, and the operation is convenient. In addition, the judgment of the target point position 500 mm ahead of time is realized by allocating the power of the RFID probe, and the two sensing technologies are both non-contact triggering, so that the system has good stability in the field of driving.

Description

Technical Field

[0001] This invention relates to the field of vehicle positioning technology, specifically to a vehicle positioning system and its usage method. Background Technology

[0002] Vehicle positioning technology plays a crucial role in the transportation industry, rail transport, cranes, coke oven vehicles and equipment, heavy machinery, and especially in the fields of autonomous driving and automated transportation. Ensuring accurate vehicle positioning is paramount, as it is a fundamental prerequisite for autonomous navigation. In this field, traditional single-sensor positioning methods have significant limitations, as they often struggle to cope with complex and changing environmental conditions.

[0003] Currently, advanced technologies such as satellite positioning and visual positioning are widely used in positioning systems, but they each have their own limitations. For example, satellite positioning may be affected by signal blockage in some situations, leading to increased positioning errors, while visual positioning is easily affected by lighting conditions and environmental factors, making it impossible to accurately acquire images at night or in inclement weather. In addition, visual positioning systems rely on the identification of roadside reference points, which can pose a significant challenge in practice, as it is often difficult to accurately identify similar roadside reference points.

[0004] Therefore, in order to overcome these challenges, autonomous driving systems need to integrate multiple positioning technologies and rely on advanced sensors to ensure that vehicles can accurately locate themselves in various complex environments, thereby achieving safe and reliable autonomous navigation. Summary of the Invention

[0005] Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a vehicle positioning system and its usage method, solving the problems mentioned in the background section.

[0007] Technical solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a vehicle positioning system and its usage method, comprising a vehicle, a detection circuit, a Hall element circuit, and an RFID module circuit. The vehicle has a component platform at its front end, a control system box fixedly mounted on one side of the component platform, and a detachable function board installed at the center of the component platform. The function board and the control system box are connected via a circuit control connection. The vehicle has rotatable drive wheels at its lower end. The RFID module circuit is located below the vehicle and includes a guide rail located below the vehicle. The Hall element circuit is located at the top of the component platform and on the other side of the function board. On the side, the Hall element circuit also includes a Hall array disposed at the bottom of the vehicle. The vehicle travels above the guide rail. The surface of the guide rail is provided with a plurality of guide strips for positioning and movement. The guide strips are arranged in a matrix. A pair of symmetrical universal adjustment heads are fixedly disposed on the upper end face of the guide rail. Permanent magnets are disposed above the universal adjustment heads on both sides. The detection circuit is disposed at the front end of the vehicle. The detection circuit also includes a collision protection strip fixedly disposed at the front end of the element platform. The collision protection strip is arranged horizontally. A horizontal detection strip is installed on the front side of the lower end of the vehicle. A plurality of signal transmission lines are connected between the detection strip and the collision protection strip. The signal transmission lines are arranged in a matrix.

[0009] Preferably, a display element is fixedly mounted on one end face of the component platform, and a battery box is fixedly mounted on the top of the component platform and on the other side of the display element, and a power supply battery is installed inside the battery box.

[0010] Preferably, a signal processor is provided on one side of the Hall element circuit, and the Hall array is connected to the Hall element circuit via a data line circuit.

[0011] Preferably, a support base is fixedly provided at the top of the component platform and on one side of the functional board. The support base has an outward-facing rotating cavity, and a rotating plate is rotatably provided in the rotating cavity. A signal antenna is fixedly provided on one end face of the rotating plate.

[0012] Preferably, the detection circuit further includes a plurality of optical detectors mounted on the lower end face of the detection strip, the optical detectors being arranged in a position matrix.

[0013] Preferably, the detection strip has an adjusting rod rotatably mounted on both ends, and a signal reader is fixedly mounted on the lower end of the adjusting rod.

[0014] Preferably, the RFID module circuit further includes movable slots located on both sides of the top of the guide rail, with the movable slots on both sides being symmetrically positioned.

[0015] Preferably, a movable shaft is fixedly provided on one side wall of the movable groove, and a movable signal plate is provided in the movable groove, with the signal plate slidably connected to the movable shaft.

[0016] A vehicle positioning system and its usage method are as follows:

[0017] The first step involves installing the RFID module circuit and Hall element circuit onto the predetermined track and powering them with a battery. The system then controls the vehicle's autonomous driving via the main control circuit in the control box. During normal driving, the system uses an optical detector to sense and detect the pre-laid guide rails. The drive unit inside the vehicle then drives the drive wheels to rotate and moves the entire vehicle along the guide rail in the directional direction, thus achieving autonomous driving.

[0018] The second step involves the following process: During normal operation, as the vehicle traverses a section of the laid guide rail, a signal reader reads signals from cards within the signal board. Simultaneously, influenced by the magnetic field generated by the magnet, the output pins of the Hall elements in the Hall sensor send inverted level signals to the microcontroller pins via a circuit. The Hall element's output pins only invert when the magnetic field strength exceeds the minimum trigger strength. Under this condition, because the Hall elements are positioned differently within the magnetic field, the Hall elements in the Hall array will invert at different times. With pre-configured microcontroller pin potentials, the distance to the target location can be determined by scanning the real-time changes in the corresponding pin potentials of the microcontroller.

[0019] The third step involves collecting distance information, which is then transmitted upwards through a signal transmission line to the anti-collision strip for centralized processing. After centralized processing, the signal is transmitted to the microcontroller in the function board for further processing. Once the microcontroller receives the signal, it outputs command signals for other functions, facilitating the adjustment of direction and other functions during subsequent autonomous driving and improving the stability of autonomous driving.

[0020] The fourth step involves collecting card information from signal boards at different locations and outputting it via signal. The processed signal is then input into the signal processor for signal processing and compilation. The compiled signal is then transmitted to the control terminal via the signal antenna. Upon receiving the signal, the terminal can directly process the signal and promptly determine the vehicle's location. This means that the distance and location of the vehicle relative to the target can be remotely calculated using IoT remote monitoring technology.

[0021] Fifth, after the signal is received, the microcontroller installed in the function board calculates the specific position on the guide rail in real time after receiving the signal feedback. At the same time as completing the positioning, the coordinate information can be directly displayed through the display element to show the location information and distance data. Users can intuitively understand the relevant information of the target position, which further facilitates the positioning efficiency and accuracy of the autonomous vehicle.

[0022] Beneficial effects

[0023] This invention provides a vehicle positioning system and its usage method. It has the following beneficial effects:

[0024] This invention enables precise acquisition of the target location using a Hall array triggered by a magnet, with an accuracy of less than ±10 centimeters from the target point.

[0025] This invention employs RFID equipment for rapid scanning of electronic tags, enabling complete reading of preset electronic tags for reliable location number identification. Furthermore, the target location number can be modified by altering the software code to erase the original tag. Additionally, target location accuracy within ±500 mm can be achieved by adjusting the power of the RFID probe.

[0026] Both sensing technologies in this invention are non-contact triggering, which has good stability in the field of vehicle operation. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the external structure of the present invention;

[0028] Figure 2 This is a bottom-view structural diagram of the present invention;

[0029] Figure 3 This is a top view of the structure of the present invention;

[0030] Figure 4 This is a side view of the structure of the present invention;

[0031] Figure 5 This is a front view structural diagram of the present invention;

[0032] Figure 6 For the present invention Figure 1 Enlarged schematic diagram of the mechanism at the moving trough component;

[0033] Figure 7 For the present invention Figure 1 Enlarged structural diagram of the central support base component;

[0034] Figure 8 For the present invention Figure 5 A cross-sectional view along the AA direction;

[0035] Figure 9 This is a flowchart illustrating the workflow of the Hall array and RFID probe of this invention.

[0036] In the diagram: 101. Vehicle; 102. Drive wheel; 103. Guide rail; 104. Moving slot; 105. Signal processor; 106. Component platform; 107. Anti-collision strip; 108. Display component; 109. Function board; 110. Power supply battery; 111. Battery box; 112. Control system box; 113. Signal antenna; 114. Guide strip; 115. Optical detector; 116. Detection strip; 117. Signal transmission line; 118. Signal reader; 119. Adjusting rod; 120. Adjusting cavity; 121. Moving shaft; 122. Signal board; 123. Rotating plate; 124. Rotating cavity; 125. Support base; 126. Hall element circuit; 127. Hall array; 128. Universal adjustment head; 129. Permanent magnet; 1001. Detection circuit; 1002. RFID module circuit. Detailed Implementation

[0037] This invention provides a vehicle positioning system and its usage method, such as... Figure 1-9 As shown, the system includes a vehicle 101, a detection circuit 1001, a Hall element circuit 126, and an RFID module circuit 1002. The front end of the vehicle 101 has an outward-facing component platform 106. A control system box 112 is fixedly mounted on one side of the component platform 106. A detachable function board 109 is installed at the center of the component platform 106. The function board 109 and the control system box 112 are connected via circuit control. Drive wheels 102 are rotatably mounted at the lower end of the vehicle 101. The RFID module circuit 1002 is located below the vehicle 101 and also includes a guide rail 103 located below the vehicle 101. The Hall element circuit 126 is located at the top of the component platform 106 and on the other side of the function board 109. The Hall element circuit 126 also includes… The system includes a Hall array 127 located at the bottom of the vehicle 101. The vehicle 101 travels above a guide rail 103. The surface of the guide rail 103 has several guide strips 114 for positioning and movement. The guide strips 114 are arranged in a matrix. A universal adjustment head 128 is fixedly installed on the upper surface of the guide rail 103. A permanent magnet 129 is installed above the universal adjustment head 128 to make fine adjustments in response to changes in road conditions. A detection circuit 1001 is located at the front end of the vehicle 101. The detection circuit 1001 also includes a crash bar 107 fixedly installed at the front end of the component platform 106. The crash bar 107 is arranged horizontally. A horizontal detection strip 116 is installed on the lower front side of the vehicle 101. Several signal transmission lines 117 are connected between the detection strip 116 and the crash bar 107. The signal transmission lines 117 are arranged in a matrix.

[0038] It should be noted that the control system box 112 contains a main control circuit, which is connected to the function board 109 through a signal circuit. The upper surface of the function board 109 contains a microcontroller, a power reset circuit, a step-down circuit, and a display circuit.

[0039] Furthermore, a display element 108 is fixedly mounted on one end face of the component stage 106, and a battery box 111 is fixedly mounted on the top of the component stage 106 and on the other side of the display element 108. A power supply battery 110 is installed inside the battery box 111.

[0040] It is worth noting that the display element 108 is used to display location information and distance data to that location, and is connected to the microcontroller on the upper surface of the function board 109 through a communication interface, so that users can intuitively understand the relevant information of the target location.

[0041] It should be further noted that the power supply battery 110 is a removable power source, and the display element 108 is a display circuit connected to the microcontroller.

[0042] Furthermore, a signal processor 105 is provided on one side of the Hall element circuit 126, and the Hall array 127 is located at the bottom of the vehicle 101. The Hall array 127 and the Hall element circuit 126 are connected by a data line circuit.

[0043] It is worth noting that, such as Figure 8 As shown, the Hall array 127 located at the bottom of the vehicle 101 is arranged in a line at periodic intervals. Several arrayed mounting slots are provided on both sides of the bottom of the vehicle 101. The mounting slots on both sides are symmetrically positioned. The Hall elements are located in the mounting slots of the array. The Hall elements are horizontally positioned above the permanent magnet 129 of the guide rail 103.

[0044] Furthermore, a Hall element circuit 126 is provided on the top of the component stage 106 and on the other side of the function board 109 and on the top of the vehicle 101, with one side connected to the signal processor 105.

[0045] It should be noted that the signal processor 105 is connected to the anti-collision strip 107 and the function board 109 via signal circuits.

[0046] It is worth noting that, under the influence of the magnetic field generated by the permanent magnet 128, the output pins of the Hall elements in the Hall array 127 will send inverted level signals to the microcontroller pins through the circuit. The output pins of the Hall elements will only invert when the magnetic field strength exceeds the minimum trigger magnetic strength of the Hall element. Under this premise, because the Hall elements are in different positions in the magnetic field, the Hall elements in the Hall array will invert at different times.

[0047] Furthermore, a support base 125 is fixedly provided at the top of the component stage 106 and on one side of the function board 109. The support base 125 has a rotating cavity 124 with an outward opening. A rotating plate 123 is rotatably provided in the rotating cavity 124. A signal antenna 113 is fixedly provided on one end face of the rotating plate 123.

[0048] It is worth noting that the support base 125 is connected to the signal processor 105.

[0049] like Figure 4 As shown, the detection circuit 1001 also includes a plurality of optical detectors 115 mounted on the lower end face of the detection strip 116, and the positions of the optical detectors 115 are arranged in a matrix.

[0050] It should be further explained that the optical detector 115 can perform routine autonomous driving positioning and guidance work by scanning the guide bar 114.

[0051] Furthermore, the two end faces of the detection strip 116 are rotatably provided with adjustment rods 119, and the lower end face of the adjustment rods 119 is fixedly provided with a signal reader 118.

[0052] It should be noted that the signal reader 118 is capable of reading card information.

[0053] like Figure 5 As shown, the RFID module circuit 1002 also includes movable slots 104 located on both sides of the top of the guide rail 103, with the movable slots 104 on both sides being symmetrically positioned.

[0054] Furthermore, a movable shaft 121 is fixedly provided on one side wall of the movable groove 104, and a movable signal plate 122 is provided in the movable groove 104. The signal plate 122 is slidably connected to the movable shaft 121.

[0055] It should be noted that the signal board 122 is equipped with cards for information scanning and recognition. After the guide rail 103 is laid, the position of the signal board 122 can be adjusted as needed to facilitate subsequent information recognition work.

[0056] A vehicle positioning system and its usage method are as follows:

[0057] The first step involves installing the RFID module circuit 1002 and the Hall element circuit 126 onto the predetermined track and providing power through the power supply battery 110. Then, the unmanned driving control of the vehicle 101 is achieved through the main control circuit in the control system box 112. During normal driving, the pre-laid guide strip 114 can be sensed and detected by the optical detector 115, and the wheels 102 are driven to rotate by the drive device inside the vehicle 101, which in turn drives the vehicle 101 to move along the guide rail 103 in the paving direction, thus achieving unmanned operation.

[0058] The second step involves the following process: During normal operation, each time a section of the guide rail 103 is traversed, the signal reader 118 reads the signal from the card within the signal board 122. Simultaneously, influenced by the magnetic field generated by the permanent magnet 129, the output pin of the Hall sensor sends a reversed level signal to the microcontroller pin via a circuit. The output pin of the Hall element will only reverse when the magnetic field strength exceeds the minimum trigger magnetic strength of the Hall element. Under this premise, because the Hall elements are positioned differently within the magnetic field, the Hall elements in the Hall array 127 will reverse at different times. With pre-configured microcontroller pin potentials, the distance information to the target location can be determined by scanning the real-time changes in the corresponding pin potentials of the microcontroller.

[0059] The third step involves collecting distance information. The electrical signals generated by the Hall element circuit 126 and the RFID module circuit 1002 are output upwards through the signal transmission line 117 to the anti-collision strip 107 and processed centrally. The signals are then transmitted to the microcontroller in the function board 109 for further processing. After receiving the signals, the microcontroller outputs command signals for other functions, facilitating the adjustment of direction and other functions during subsequent autonomous driving and improving the stability of autonomous driving.

[0060] The fourth step involves collecting card information from signal boards 122 at different locations and outputting it via signal. The processed signal is then input into signal processor 105 for signal processing and compilation. The compiled signal is then transmitted to the control terminal via signal antenna 113. Upon receiving the signal, the terminal can directly process the signal and promptly determine the location of the vehicle 101. This means that the distance and location of the vehicle 101 relative to the target can be remotely calculated using IoT remote monitoring technology.

[0061] Fifth, after the signal is received, the microcontroller installed in the function board 109 calculates the specific position of the vehicle on the guide rail 103 in real time after receiving the signal feedback. At the same time as completing the positioning, the coordinate information can be directly displayed through the display element 108 to show the location information and distance data. Users can intuitively understand the relevant information of the target position, which further facilitates the positioning efficiency and accuracy of the autonomous vehicle.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vehicle positioning system and its usage method, comprising a moving vehicle (101), a detection circuit (1001), a Hall element circuit (126), and an RFID module circuit (1002), characterized in that: The vehicle (101) has a component platform (106) at its front end. A control system box (112) is fixedly installed on one side of the component platform (106). A function board (109) is installed at the center of the component platform (106). The function board (109) and the control system box (112) are connected by a circuit. The vehicle (101) has a drive wheel (102) rotating at its lower end. The RFID module circuit (1002) is located below the vehicle (101). The RFID module circuit (1002) also includes a guide rail (103) located below the vehicle (101). The Hall element circuit (126) is located at the top of the component platform (106) and on the other side of the function board (109). The Hall element circuit (126) also includes a Hall array (127) located at the bottom of the vehicle (101). 101) Driving above the guide rail (103), the guide rail (103) has a number of guide strips (114) for positioning and movement, the guide strips (114) are arranged in a position matrix, the upper end of the guide rail (103) is fixed with a pair of symmetrical universal adjustment heads (128), and permanent magnets (129) are provided above the universal adjustment heads (128) on both sides. The detection circuit (1001) is located at the front end of the driving vehicle (101), and the detection circuit (1001) also includes a collision protection strip (107) fixed at the front end of the component platform (106), the collision protection strip (107) is arranged horizontally, and a horizontal detection strip (116) is installed on the front side of the lower end of the driving vehicle (101). A number of signal transmission lines (117) are connected between the detection strip (116) and the collision protection strip (107), and the signal transmission lines (117) are arranged in a position matrix.

2. The vehicle positioning device according to claim 1, characterized in that: A display element (108) is fixedly provided on one end face of the component platform (106), and a battery box (111) is fixedly provided on the top of the component platform (106) and on the other side of the display element (108). A power supply battery (110) is installed inside the battery box (111).

3. A vehicle positioning device according to claim 2, characterized in that: A signal processor (105) is provided on one side of the Hall element circuit (126), and the Hall array (127) is connected to the Hall element circuit (126) via a data line circuit.

4. A vehicle positioning device according to claim 3, characterized in that: A support base (125) is fixedly provided at the top of the component platform (106) and on one side of the function board (109). A rotating cavity (124) with an outward opening is provided in the support base (125). A rotating plate (123) is rotatably provided in the rotating cavity (124). A signal antenna (113) is fixedly provided on one end face of the rotating plate (123).

5. A vehicle positioning device according to claim 1, characterized in that: The detection circuit (1001) also includes a plurality of optical detectors (115) installed on the lower end face of the detection strip (116), and the optical detectors (115) are arranged in a position matrix.

6. A vehicle positioning device according to claim 5, characterized in that: The detection strip (116) has an adjustment rod (119) rotatably mounted on both ends, and a signal reader (118) is fixedly mounted on the lower end of the adjustment rod (119).

7. A vehicle positioning device according to claim 1, characterized in that: The RFID module circuit (1002) also includes movable slots (104) located on both sides of the top of the guide rail (103), and the movable slots (104) on both sides are symmetrical.

8. A vehicle positioning device according to claim 7, characterized in that: A moving shaft (121) is fixedly provided on one side wall of the moving groove (104), and a signal plate (122) is provided in the moving groove (104). The signal plate (122) is slidably connected to the moving shaft (121).

9. A vehicle positioning system and its method of use according to claims 1 to 8, characterized in that, Its usage method is as follows: The first step is to install the RFID module circuit (1002) onto the predetermined track and provide power through the power supply battery (110). Then, the unmanned driving control of the vehicle (101) is carried out through the main control circuit in the control system box (112). During normal driving, the pre-laid guide strip (114) can be sensed and detected by the optical detector (115). The drive wheel (102) is driven to rotate by the drive device in the vehicle (101) and the entire vehicle (101) moves along the guide rail (103) in the laying direction to achieve unmanned operation. The second step involves the signal reader (118) scanning the signal board (122) every second as the vehicle passes through a section of the guide rail (103) during normal driving. During this process, the signal reader captures information from inside the signal board (122), which is pre-configured. This allows the positioning system to accurately determine the vehicle's position within the guide rail. Simultaneously, influenced by the magnetic field generated by the permanent magnet (129) laid on the guide rail (103), the Hall sensor's output pin sends a reversed level signal to the microcontroller pin via a circuit. Only when the magnetic field strength exceeds the minimum trigger magnetic strength of the Hall element will the Hall element's output pin reverse. Under this premise, as the vehicle approaches the target location, the position of the Hall element in the magnetic field changes continuously. Therefore, some Hall elements in the Hall array (129) will reverse at different times. With the pre-configured microcontroller pin potentials, the system can effectively determine the distance to the target location by scanning the real-time changes in the corresponding pin potentials of the microcontroller. The third step is to collect distance information and output it upward to the anti-collision strip (107) through the signal transmission line (117). After centralized processing, the signal is transmitted to the microcontroller in the function board (109) for centralized processing. After receiving the signal, the microcontroller outputs command signals for other functions, which facilitates the adjustment of direction and other functions for subsequent unmanned driving and improves the stability of unmanned driving. The fourth step is that after the card information in the signal board (122) at different locations is collected and the signal is output, the processed signal is input into the signal processor (105) for signal processing and compilation, and the compiled signal is transmitted to the control terminal through the signal antenna (113). After the terminal receives the signal, it can directly process the signal and know the location of the vehicle (101) in a timely manner. That is, through the Internet of Things remote monitoring technology, it can remotely calculate the distance of the vehicle (101) to the target and its location information. Fifth, after the signal is received, the microcontroller installed in the function board (109) calculates the specific position on the guide rail (103) in real time after receiving the signal feedback. While completing the positioning, the coordinate information can be directly displayed on the display element (108) to show the location information and distance data. Users can intuitively understand the relevant information of the target position, which further facilitates the positioning efficiency and accuracy of the unmanned vehicle.

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