Parking Assistant Idea

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

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I. Commercial Parking Systems
Cartesian Robot: [1],[2]
1. Westfalia parking solutions
2. Skyline Parking

Limitations
Cartesian robots require a
high infrastructure
investment.

Mobile robots have

technical and economic
problems similar to
autonomous vehicles.

Mobile Robot: [3],[4]

1. HIKVISION Smart Parking
2. BMW self-driving robots in Supply Logistics

[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
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[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.
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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.

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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.

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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

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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.

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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.

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 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.

Orientation Position Movement

- Specific path
- Capacitor plates in the
- Sensor coil in the car assigned to line
car and robot
follower
- Magnetic field
- 2D position control,
generator in the line - Implementation of a
distance
follower position control for
measurements
autonomous vehicle

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 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

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 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

Sensor coil and Coil windings

capacitor and capacitor
plates (vehicle) plates (line
follower)

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 III. Proposed Solution
3. Movement:
- Interaction between autonomous vehicle and line follower
Vehicle

Sensor coil

Coil winding

Capacitor Plates

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