Академический Документы
Профессиональный Документы
Культура Документы
Objective:
Guide an autonomous vehicle inside a parking lot
General Description:
Guidance system composed by a sensor coil inside a Uniform Magnetic Field
ANDRES BRITO
1
I. Commercial Parking Systems
Cartesian Robot: [1],[2]
1. Westfalia parking solutions
2. Skyline Parking
Limitations
Cartesian robots require a
high infrastructure
investment.
[1] https://www.westfaliaparking.com/parking-systems/system-types/
[2] https://skyline-parking.com/aps-applications/car-dealership-parking/
[3] http://en.hikrobotics.com/robot/robotplaninfo.htm?type=546&oid=1598
2
[4] https://www.press.bmwgroup.com/global/article/detail/T0257786EN/bmw-group-introduces-self-driving-robots-in-supply-logistics?language=en
II. Related Research
Eye movement in three degrees of freedom [5]
[5] David A. Robinson, “A Method of Measuring Eye Movemnent Using a Scieral Search Coil in a Magnetic”, IEEE Transactions on Bio-medical electronics, Oct. 1963
Contribution
Using two magnetic fields in quadrature phase and two coils on the lens, one may measure horizontal, vertical and torsional eye movements simultaneously.
Limitation
Uniform Magnetic Field.
3
II. Related Research
Description of three coil systems to generate uniform magnetic field[6]
[6] S. Magdaleno-Adame, J.C. Olivares-Galvan, E. Campero-Littlewood, R. Escalera-Perez, “Coil Systems to generate Uniform Magnetic Field Volumes”, COMSOL Conference 2010,
Boston
Contribution
Mathematical description and simulation for designing coil systems which generate uniform magnetic field.
Limitation
Separation between coils and coil dimension.
4
II. Related Research
Modified Helmholtz coil to improve uniformity in the magnetic field[7]
[7] I. Sasada, Y. Nakashima, “Planar coil system consisting of three coil pairs for producing a uniform magnetic field”, Journal of Applied Physics 99, 08D904, (2006)
Contribution
Simplified design and improvement in the magnetic field uniformity.
Limitation
Separation between coils and coil dimension.
5
II. Related Research
Symmetric arrangement of transmitting coils yields a uniform magnetic field around longitudinal axis [8]
[8] Ron-Chi Kuo, Patrick Riehl, and Jenshan Lin, “3-D Wireless Charging System with Flexible Receiver Coil Alignment”, 978-1-4673-7986-1/16, 2016 IEEE
Contribution
Overcome misalignment related problems for charging systems.
Receiving coil surrounded by the generated magnetic field.
Limitation
Identify the receiver position to activate the suitable coils
6
II. Related Research
Capacitive Wireless Power Transfer [9]
[9] R. Dias, J. Matos, and N. Borges, “Resonant Electrical Coupling: Circuit Model and First Experimental Results”, IEEE Transactions on Microwave Theory and Techniques, Vol. 63, No. 9,
Sep. 2015
Contribution
Study of resonant electric coupling for WPT.
Implemented design of capacitors for WPT.
Limitation
Initial approach, better description about distances
and capacitance is required.
7
II. Related Research
Line follower and objects store systems [10], [11]
[10] F. Ali, A. Rashid , “Design and implementation of static and dynamic objects store systems using line follower robots”, 2018 International Conference on Advances in Sustainable
Engineering and Applications (ICASEA), Wasit University, Kut, Iraq
[11] T. Fujiwara, T. Muramatsu, and Y. Iwatani, “Further results on interaction with a line-follower”, SICE Annual Conference 2012, Akita, Japan
Contribution
Description of a storage systems similar to a parking
system.
Static and dynamic paths suitable for parking lots.
Limitation
Physical path regeneration system.
8
III. Proposed Solution
Electromagnetic Guidance for Autonomous Vehicles
1. Description:
- Magnetic field for orientation and electric field for position on a plane.
- Line follower defines the path for the autonomous vehicle.
- Autonomous vehicle internal controller follows the path.
9
III. Proposed Solution
1. Orientation:
- Use a sensor coil inside a magnetic field to measure angular position.
Magnetic
Field
Generator
Sensor coil
B
Coil
windings
𝝋
Uniform Magnetic Field
z
Sensor coil
y
x
10
III. Proposed Solution
2. Position:
- Use capacitor plates to determine position (2D distance measurement).
- WPT could be also used, energy depends on capacitance, and it depends on distance
Capacitor Plates
11
III. Proposed Solution
3. Movement:
- Interaction between autonomous vehicle and line follower
Vehicle
Sensor coil
Coil winding
Capacitor Plates
12